Abstract
Aiming at the integrated surgical robot, a set of power-assisted control system is designed to overcome the transmission resistance between master and slave hands, so that the operator feels light and comfortable during operation. The system includes permanent magnet synchronous motor, driver, controller, torque sensor, upper computer. The field oriented control algorithm is discussed and is used to control the permanent magnet synchronous motor. STM32 is used as the main control chip, DRV8301 is used as the driving chip, and the upper computer software, which has human-computer interaction interface and real-time torque signal display interface, is written by C#. A non-contact torque sensor and corresponding signal processing module is designed. The experimental results show that with the operator’s start-stop and reversing action, the q-axis current of the motor changes rapidly, and the amplitude of steady-state changes is small. This means that the designed system has the advantages of stable assist torque and fast response.
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