摘要
为了清晰地观察手术机器人的运动状态,文中提出了一种基于LabVIEW的3D虚拟仿真平台构建方法。该方法将图形化编程软件LabVIEW作为构建平台,结合SolidWorks机械建模、LabVIEW的GUI前面板、三维显示控件以及LabVIEW Robotics工具包搭建了可视化程度高、模型效果逼真的手术机器人3D虚拟仿真平台。针对文中设计里自主构建的从手机械臂和主手操作台,详细讲述了虚拟仿真平台的构建过程,并且使用算法实现了手术机器人在主从控制系统中的实时参数控制。最后结合MATLAB对手术机器人末端位置运动进行测试对比。测试结果表明轨迹路径一致,可以通过该方法实现对手术机器人的虚拟仿真平台构建。
In order to clearly observe the motion state of the surgical robot,a method of constructing a3D virtual simulation platform based on LabVIEW was proposed.The graphical programming software LabVIEW serving as a construction platform,combined with SolidWorks mechanical modeling,LabVIEW GUI front panel,3D display control and LabVIEW Robotics toolkit to build a3D virtual simulation platform for surgical robots high visualization realistic model effects.According to the self-designed master and slave mechanical arm,the process of constructing the virtual simulation platform was described in detail,and the real-time parameter control of the surgical robot in the master-slave control system was realized.Finally,the end position movement of the surgical robot was tested with MATLAB.The test results showed that the trajectory path was consistent,and the virtual simulation platform of the surgical robot could be constructed by this method.
作者
郝嘉俊
王亚刚
马江涛
HAO Jiajun;WANG Yagang;MA Jiangtao(School of Optical Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093, China)
出处
《电子科技》
2019年第2期14-19,31,共7页
Electronic Science and Technology
基金
国家自然科学基金青年基金(11502145)~~
关键词
手术机器人
虚拟仿真平台
图形化编程
机械建模
可视化
主从控制
surgical robot
virtual simulation platform
graphical programming
mechanical modeling
visualization
master-slave control
