摘 要：连续型结肠镜机器人在结构上分为5节，每节各具有2个自由度，分别由2个直流伺服电机实现。在分析了连续型结肠镜机器人机械结构的基础上，设计了采用两级分布式结构的控制系统，其上层结构为PC机，采用由VC++6.0与OPGL联合开发的基于Windows平台的软件系统；下层结构由基于DSP芯片的电机运动控制器和以LMD18200为核心的电机驱动器组成；上、下层结构之间通过CAN总线进行通讯。最后进行了原理样机弯曲实验，以验证了控制系统的可行性。
关键词：连续型机器人；内窥镜机器人；控制系统；DSP

Abstract: The continuum robot for colonoscopy consists of 5 sections, each section has 2 degrees of freedom(DOF) and driven by 2 DC servo motors. Based on the analysis of the mechanical structure of continuum robot for colonoscopy, a distributed control system with two levels was designed. The upper-level control system is based on PC, and the Windows based software is developed with VC++6.0 and OPGL. The down-level control system is composed of motion controllers with DSP chips and motor drivers with LMD18200 chips. The CAN bus is used to realized the communication between upper-level and down-level of control system. The prototype experiments were carried out to validate the feasibility of control system.
Key words: continuum robot;colonoscopic robot;control system;DSP