基于Speedgoat的dVRK机械臂控制系统开发

为提高dVRK外科机器人控制系统的快速响应性和控制实时性，开发一种基于实时目标机Speedgoat的机器人实时控制系统。通过搭建宿主机-目标机机器人控制平台，设计UDP Real Time通信模型块，建立宿主机、目标机的运行模型，实现对机器人的实时控制。结果表明：实时控制系统可准确地完成对dVRK机器人的数据采集和相关控制算法验证；搭建的Speedgoat实时控制平台具有在线调参、实时仿真、目标代码快速原型化、仿真精度高、可靠性好等优点，大大缩短了dVRK机器人控制算法的研制周期。

Development of dVRK Manipulator Control System Based on Speedgoat Machine

To improve the fast responsiveness and real-time control performance of dVRK surgical robot control system,a real-time control system based on Speedgoat real-time target machine was developed.Through constructing the host machine-the target robot real-time control platform,the UDP Real Time communication model was designed,the host machine and target machine running model were established to realize the real-time control of the robot.The results show that by using the real-time control system,the data acquisition of dVRK robot and the verification of related control algorithm can be accurately completed;the Speedgaot real-time control platform has the advantages of online parameter adjustment,real-time simulation and rapid prototyping of object code,high simulation accuracy,good reliability,which greatly shortens the development cycle of dVRK robot control algorithm.