Kinematics calculation of minimally invasive surgical robot based on FPGA

Abstract

In order to achieve high precision master-slave heterogeneous surgical robot, this paper addresses the needs of robot in motion control. The forward kinematics model of the master arm is established by D-H method and the inverse kinematics model of the salve arm is established by algebraic method. We construct the kinematics hardware model by using CORDIC algorithm based on FPGA technology, and realize the complex solution for kinematics from the manipulator model in the microsecond time. The experimental results show that the kinematic calculation results based on FPGA are consistent with the theoretical results of computer simulation. In addition, the scheme greatly improves the response speed of the master and slave arms, which lays the foundation for the synchronization of the robot arm movement.