【摘要】 在分析几种微创手术机器人控制系统架构的基础上,提出了基于Ethercat总线和TwinCAT运动控制器的控制系统架构,该系统架构采用集中式控制和分布式I/O(输入和输出).基于该控制系统提出了主从控制映射算法,编写了相应的程序,并设计了相关实验对该控制系统和控制算法的有效性进行了验证.实验结果表明:该控制系统稳定可靠,实时性强,灵活易扩展,应用于微创手术机器人系统中极具优势.更多还原

【Abstract】 On the basis of studying the domestic and overseas relevant minimally invasive surgical(MIS) robot control architecture,a new control structure was proposed based on EtherCAT bus and TwinCAT motion controller.This control architecture realizes centralized computation and distributed I/O(input/output) ideology.According to this control system,the master-slave hand-eye coordinate control algorithm was implemented.Some relative experiments were designed to verify this control system and algorithm.The experimental results show that the control system is stable and reliable,real-time,flexible and easy to expand.It is very advantageous in MIS robot system.更多还原