基于ARM微控制器的医疗机器人主从夹持控制系统设计与实现

Design and Implementation of Master-Slave Grasping Control Systems for Medical Robots on ARM Microcontroller

利用ARM微控制器,基于本实验室自主研发的医疗机器人用关节式主操作手和从操作手的手指系统,构建了主从遥操作夹持控制系统。本文设计了AT91RM9200 ARM微控制器与外围器件的硬件电路,并在运行于硬件平台的LINUX操作系统上开发了相应的硬件驱动程序。实验表明该系统可以有效控制缝合针的夹持操作。

This paper presented a method for using ARM microcontroller to build a grasping controlsystem of master-slave teleoperated manipulation. The system was built based on the finger devicedesigned for medical robot developed in our lab. The hardware circuit of the AT91RM9200 ARMmicrocontroller and its peripheral devices were designed, and the hardware device drivers on the LINUXoperating system which were run on the hardware platform were developed. The results showed that thesystem could effectively control the grasping operation of the suture needle.