| The development of medical robot has the significant influence in traditional medicine and world economy, thus it have attracted the attention of the world. At present, the research of medical robot is at the ceaselessly progressing and developing stage. Force feedback technique in master-slave teleoperation is one of the most important research fields in medical robot, and haptic master manipulator and tactile slave manipulator are necessary parts of the master-slave force feedback control system.Aimed at the work of"The research of dynamics characteristic of medical robot's master manipulator and its digitized operation technology"which is supported by the Natural Science Foundation of Hebei Province, taking the master manipulator as the core which has been established by research team, this paper has advanced the design scheme and control strategy of the master-slave control system, developed the simulation platform, and constructed a single freedom-degree experiment for master-slave control.The main task of this thesis concerns following aspects:1. This paper has summarized the present development current, domestic and foreign research situation of master-slave medical robot, and introduced the related key technology and problem with its existence.2. Against the established physical model of medical robot master manipulator, confirmed the overall design thought and processes of master-slave medical robot control system, elaborated the necessary hardware and its function, made the flow chart for the software of the control system and ascertained its functional modules.3. Combined actual conditions, the operation mode,control strategy and PID control parameter have been ascertained, and the simple structure of master manipulator is given. By using the D-H matrix, the model of kinematics of master manipulator has been established.4. Based on the mentioned theories and algorithm above, the control system interface has been designed with the platform of Labview 8.2.1 of NI company, which is based on Microsoft Windows XP operation system. The control system simulation software of medical robot manipulator has been developed, and a single freedom-degree experiment of master-slave control has been constructed, and the feasibility of above-mentioned project has been verified.In conclusion, the purpose and effect of this thesis is to give a control system general frame and theory foundation of control system, to discuss and attempt the research method from the aspects of construction design, kinematic model and software programme dynamic analysis. As a result, it has made a reliable foundation for the following work, and given a feasible way to finish the work. |
PDF Full Text Request