| 手术辅助机器人的运动控制器设计 |
| |
| 引用本文： | 张红.手术辅助机器人的运动控制器设计[J].长春大学学报,2010,20(6):59-63. |
| |
| 作者姓名： | 张红 |
| |
| 作者单位： | 闽江学院物理学与电子信息工程系,福建福州350001 |
| |
| 摘 要： | 系统硬件采用YASKAWA公司提供的MP2100运动控制卡、∑-V伺服驱动器和伺服电机,该控制卡通过PCI接口与工控机连接,控制卡与驱动器采用具有总线结构的MECHATROILINK-II连接。基于上述软、硬件基础,本文对该运动控制器的原型系统进行了研究,实现了运动控制的基本操作,如伺服轴的手动控制以及自动直线插补、圆弧插补等。最后对该原型系统进行了测试,并分析了存在的问题。
|
| 关 键 词： | 工控机 运动控制卡 实时性 RTX实时扩展 手术机器人 |
Motion controller design for surgery assistance robot |
| |
| ZHANG Hong.Motion controller design for surgery assistance robot[J].Journal of Changchun University,2010,20(6):59-63. |
| |
| Authors: | ZHANG Hong |
| |
| Institution: | ZHANG Hong(Department of Physics and Electronic Information Engineering,Minjiang University,Fuzhou 350001,China) |
| |
| Abstract: | The hardware of this system,including MP2100 motion controlcard,∑-V servo driver and servo motor are supplied by YASKAWA Company.The control card connects industrial computer through PCI interface,while connects the servo driver through MECHATROLINK-II with the bus structure.Based on the above software and hardware,this paper studies the prototype system of this motion controller,achieves the basic operations such as manual control,automatic linear interpolation and circular interpolation.Finally,it tests the prototype system and analyzes the existing problems. |
| |
| Keywords: | industrial computer motion control card real-time performance： RTX real-time extension： surgery robot |
| 本文献已被 维普 等数据库收录！ |
|
