基于FPGA的微创外科手术机器人运动控制系统的设计

Design of Motion Control System for Minimally Invasive Surgical Robot Based on FPGA

为了提高微创手术机器人的实时性、安全性,设计了一种基于现场可编程门阵列(FPGA)的微创外科手术机器人运动控制系统。采用集中计算分布控制结构,工业计算机作为主站完成主、从臂的正逆运动学、主从映射和主从控制算法。同时,提出了一种分布式的主、从操作臂同步控制算法,利用通信拓扑学理论,对主、从操作臂之间的同步误差进行定义,在约束条件下,对主、从操作臂的同步控制算法进行了详述,并利用Lyapunov函数对算法进行了稳定性分析。最后,实验结果表明:该方法能够实现机器人系统的主、从轨迹跟踪控制。

In order to improve the real-time and safety of minimally invasive surgical robot, a motion control system of minimally invasive surgical robot based on field programmable gate array(FPGA)was designed. The calculation of distributed control structure, kinematics, mapping and master-slave control algorithm, inverse industrial computer as the master to complete the master-slave arm at the same time, the synchronization control algorithm of a distributed master-slave manipulator, used communication topology theory, the definition of the synchronization error between the master-slave manipulator, under the constraint condition,synchronous controlled the algorithm of master-slave manipulators was introduced, and the algorithm stability was analyzed by used the Lyapunov function. Finally, the experimental results show that this method can realize the master and slave trajectory tracking control of the robot system.