摘要
机械臂主从式结构被广泛应用于微创手术和遥操作中,分为主臂系统和从臂系统,而控制系统在主从机器臂系统中居于核心地位。本文针对机械臂的控制系统,给出了了机械臂的控制系统总体方案;通过设计机械臂运动控制方案分别给出基于CAN总线的伺服运动控制单元和基于运动控制卡的伺服运动控制单元;针对控制系统软件,设计了软件的总体结构和容错设计;为了更好的对机械臂进行运动规划控制,提出了插补法进行运动规划。通过运行试验表明,该运动规划是可行的,有效的。
Master-slave manipulator structure is widely used in minimally invasive surgery and tele-operation including the sub-armbased systems and major arm systems,and control system is in core role of the system.In this paper,the overall program is given control system of the robot arm;through the design of motion control programs for the robot arm,servo motion control units based on the CAN bus modules and motion control card are given respectively;for control system software,the overall software structure and fault-tolerant is designed;in order to better exercise the planning of manipulator control,the interpolation method is proposed to plan the motion.The test shows that the motion planning is feasible and effective.
出处
《微计算机信息》
2010年第28期76-77,64,共3页
Control & Automation
关键词
机械臂
控制系统
运动规划
robot arm
control system
motion planning
