摘要
为提高dVRK外科机器人控制系统的快速响应性和控制实时性,开发一种基于实时目标机Speedgoat的机器人实时控制系统。通过搭建宿主机-目标机机器人控制平台,设计UDP Real Time通信模型块,建立宿主机、目标机的运行模型,实现对机器人的实时控制。结果表明:实时控制系统可准确地完成对dVRK机器人的数据采集和相关控制算法验证;搭建的Speedgoat实时控制平台具有在线调参、实时仿真、目标代码快速原型化、仿真精度高、可靠性好等优点,大大缩短了dVRK机器人控制算法的研制周期。
To improve the fast responsiveness and real-time control performance of dVRK surgical robot control system,a real-time control system based on Speedgoat real-time target machine was developed.Through constructing the host machine-the target robot real-time control platform,the UDP Real Time communication model was designed,the host machine and target machine running model were established to realize the real-time control of the robot.The results show that by using the real-time control system,the data acquisition of dVRK robot and the verification of related control algorithm can be accurately completed;the Speedgaot real-time control platform has the advantages of online parameter adjustment,real-time simulation and rapid prototyping of object code,high simulation accuracy,good reliability,which greatly shortens the development cycle of dVRK robot control algorithm.
作者
翟文正
ZHAI Wenzheng(School of Cyberspace Security,Changzhou College of Information Engineering,Changzhou Jiangsu 213164,China;Microelectronic Research&Development Center,Shanghai University,Shanghai 200072,China)
出处
《机床与液压》
北大核心
2022年第14期91-95,共5页
Machine Tool & Hydraulics
基金
江苏高校“青蓝工程”资助项目
常州信息职业技术学院青年基金项目(CXKZ201911Q)。