WO2023000716A1

WO2023000716A1 - Wearable fracture reduction and rehabilitation robot control system and control method

Info

Publication number: WO2023000716A1
Application number: PCT/CN2022/086348
Authority: WO
Inventors: 孙涛; 张嘉朋; 贺志远; 连宾宾; 宋轶民
Original assignee: 天津大学
Priority date: 2021-07-19
Filing date: 2022-04-12
Publication date: 2023-01-26
Also published as: CN113545845A

Abstract

A wearable fracture reduction and rehabilitation robot control system and control method, comprising a host computer software module (1), a communication module (2), a force sensor module (3), an embedded driver module (4), and a motor module (5). A kinematics forward/inverse solution algorithm and a path planning algorithm are embedded in the host computer software module (1), which uses multi-thread communication integrating RS485 serial communication and USB to CAN bus communication; the embedded driver module (4) is composed of hardware including a control circuit and a driving circuit and integrates a power chip, a driver chip, a communication chip, and a control chip on a same control circuit board. The driver hardware design of the control system is highly integrated and meets miniaturization and convenience requirements. In addition, the development difficulty is low, and a host computer can issue control commands by mans of a simple serial port protocol. Drivers integrate drive and control, such that good real-time performance is achieved in control of motors at the bottom layer, and the integrated control of fracture reduction and rehabilitation can be realized.

Description

Wearable fracture reduction and rehabilitation robot control system and control method

technical field

The invention belongs to the technical field of robot control, in particular to a miniaturized control system and control method of a wearable fracture reduction and rehabilitation robot.

Background technique

In the mid-1990s, robot technology began to be introduced into the field of orthopedics. Because of its obvious advantages in improving surgical accuracy, reducing surgical difficulty, reducing surgical injuries, and reducing the labor intensity of doctors, orthopedic medical robots have become the solution to traditional fracture reduction surgery and fracture rehabilitation. An effective tool for difficult clinical problems. Among them, the wearable fracture reduction and rehabilitation integrated robot described in patent CN111685880A has become an advantageous solution for orthopedic medical robots because of its compact structure, small overall size and mass, high rigidity, and high reset accuracy.

However, due to the high requirements for the portability and reliability of wearable fracture reduction and rehabilitation robots in the orthopedic medical field, the existing control systems of wearable fracture reduction and rehabilitation robots still have the following deficiencies: 1) Development is difficult and costly And it is difficult to meet the requirements of miniaturization and convenience. As described in the patent CN106873401A, the robot control system uses the purchased motion control card as the main controller to realize the corresponding control function, and the control cost is high. The controller needs to adapt to the communication protocol of the motor driver, which increases the difficulty of development. At the same time, this type of motion control system is relatively large in size and low in convenience. 2) Poor real-time performance and reliability. For example, in the robot control system based on the serial communication protocol described in patent CN106217376A, this RS485 communication method is carried out in the form of polling by the master station, the system has poor real-time performance and reliability, and it is easy to cause "dead chain" phenomenon of some nodes. 3) There is a lack of integrated control methods for fracture reduction and rehabilitation. The fracture reduction surgical robot system described in patent CN107970064A only proposes a fracture reduction trajectory control method, and lacks a fracture rehabilitation stage control method.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, provide a wearable fracture surgery and rehabilitation robot control system and control method, and better meet the clinical needs of fracture reduction surgery and fracture rehabilitation.

Technical scheme of the present invention is:

A control system for a wearable fracture surgery and rehabilitation robot, including three aspects: a network layer, a master-slave layer, and an execution layer. The network layer refers to an upper computer software module used for human-computer interaction information; the master The slave layer consists of a communication module, a force sensor module, and an embedded driver module, which are used to receive and execute control commands from the host computer software; the execution layer refers to the motor module that provides torque for the robot's movement.

The upper computer software module is used for human-computer information interaction, and its interior is embedded with mechanism kinematics forward and reverse solution algorithm and trajectory planning algorithm. The operator reads the trajectory given by the doctor and the information of the force sensor module through the software interface of the host computer, and controls the robot to assist the doctor in better fracture reduction and rehabilitation. At the same time, it can also collect and record robot movement information in real time, which is convenient for the evaluation of patient rehabilitation.

At the same time, the software module of the upper computer adopts a multi-threaded communication mode of RS485 serial port communication and USB to CAN bus communication. It can also realize the hardware parameter modification of the embedded driver and various motion control functions of the robot.

It should be noted that the host computer software module is connected with the embedded driver module through a communication module. The communication module is a USB-CAN bus converter, which converts the USB command of the host computer into a serial port command through the CH340 chip, and finally converts the serial port command into a CAN bus command and sends it to the embedded driver. The CAN bus network can be monitored simply and conveniently through the upper computer software module, and at the same time, the two-way communication of the robot can be realized.

The embedded driver module is used for motor motion control and monitoring, mainly including hardware design and application program design.

The hardware design of the embedded driver module consists of a control circuit and a drive circuit. The control circuit is used to receive and analyze external control instructions, and send motor control signals to the drive circuit; the drive circuit is used to receive the motor control signals, and control the motor through the H bridge circuit. The hardware interface of the embedded driver module includes: motor sensor and driver interface, driver power interface, CAN bus communication interface, serial communication interface, motor power interface, external ADC acquisition interface, and program download interface. The embedded driver module integrates a power supply chip, a driver chip, a communication chip, and a control chip onto the same control circuit board, which has a small circuit board area and a high degree of integration.

The application program design of the embedded driver module is composed of a control instruction receiving module, a control algorithm module, a motion control module, and a control instruction sending module.

The control instruction receiving module receives the motion control instruction from the upper computer software module, triggers a corresponding interrupt to the control algorithm module, and the bottom layer control is handed over to the motion control module, and finally the control instruction sending module sends the operation information to Inside the software module of the host computer.

It should be noted that, the control instruction receiving module and the control instruction sending module are implemented according to a self-defined communication protocol. Control commands include motor speed control, setting drive chip current protection, single point position control, trajectory PVT control, reading motor encoder information, reading motor current information, reading FLASH table specified bits, modifying FLASH table specified bits, FLASH The table returns to default values. Control frames include normal mode control frames and track PVT mode control frames. The control information of each frame includes frame header, frame tail, CAN bus ID, control mode identification, control specific data, and check code.

The control algorithm module includes a distributed multi-axis cooperative control method and a rehabilitation control algorithm. The distributed multi-axis cooperative control method is realized based on CAN bus broadcast and cubic polynomial interpolation trajectory control algorithm. The rehabilitation control algorithm is realized by fuzzy admittance control algorithm.

Both the upper computer software module and the embedded driver module are embedded in the cubic polynomial interpolation trajectory control algorithm. After the embedded driver module obtains the key point PVT information, the path points calculated by the upper computer software module are compared Sparse, it is necessary to perform trajectory interpolation on the obtained series of path points first. Trajectory interpolation is realized by the third-order polynomial interpolation trajectory control algorithm to ensure smooth operation of the motor without impact.

It should be noted that the above-mentioned control process is all completed in the joint space of the robot. After the discrete points planned by the host computer software module are sent to a fixed number of the embedded driver modules, the data broadcast through the CAN bus ( The public CAN broadcast ID is set so that the start command can pass through the bxCAN filter of the embedded driver module) to ensure that each of the embedded driver modules receives the instruction and starts at the same time. In this way, the instructions of each embedded driver module are synchronized in a certain sense, so as to realize the distributed multi-axis cooperative control of the robot.

The fuzzy admittance control algorithm is embedded in the embedded driver module, and the fuzzy logic model and the admittance model are established, and the target position is adjusted in real time according to the collected force information to comply with the patient's rehabilitation movement intention.

A control method for a wearable fracture surgery and rehabilitation robot, comprising the following steps:

1) The software module interface of the host computer inputs a position control command;

2) The upper computer software module obtains the rod length of each branch chain of the robot according to the inverse solution algorithm of the robot mechanism and converts the corresponding encoder pulse value;

3) the host computer software module transmits control instructions to the embedded driver module;

4) The embedded driver module adjusts the movement of the robot from the current pose to the desired pose according to the control instruction.

The process of information interaction between the embedded driver module and the host computer software is as follows:

1) After the embedded driver module is powered on, it is necessary to initialize the clock module, GPIO module, external interrupt module, timer module, ADC module, and CAN controller module;

2) After the initialization is completed, the embedded driver module waits for the CAN to receive an interrupt, and an interrupt will occur every time a byte is received; according to the embedded interrupt program, when the receiving condition is met, the data is received successfully to mark the position;

3) At this time, the embedded driver module closes the external interrupt, analyzes specific control instructions, turns on the timer, and enters the corresponding control mode;

4) After the execution of the instruction is completed, open the external interrupt and wait for the next data reception at the same time.

Use the bxCAN filter list mode on the CAN bus communication, and filter out unnecessary information on the hardware by setting the CAN message ID in advance.

The beneficial effects of the present invention are:

1. Meet the requirements of miniaturization and convenience and low development difficulty and cost: the drive hardware design is highly integrated and meets the requirements of miniaturization and convenience. At the same time, its development difficulty is low, and the host computer can issue control commands through a simple serial port protocol.

2. High real-time performance and good reliability: the driver is designed as an integrated drive and control, and the underlying control of the motor has high real-time performance. At the same time, CAN bus communication is used between the drivers, and reliable error handling and error detection mechanisms are integrated inside. At the same time, it has the advantages of long transmission distance and strong anti-electromagnetic interference ability, and its reliability is good.

3. It can realize the integrated control of fracture reduction and rehabilitation: in the fracture reduction stage, the control system can realize the high-precision fracture reduction process according to the trajectory planned by the doctor. In the stage of fracture rehabilitation, the control system can actively adapt to the patient's movement according to the rehabilitation control algorithm to prevent secondary injuries caused by improper rehabilitation training. At the same time, the control system can collect and record position information and force information in real time, which can facilitate the evaluation of patient rehabilitation.

Description of drawings

Figure 1 is a structural block diagram of the robot control system;

Figure 2 is a flow chart of robot pose control;

Fig. 3 is a structural block diagram of the robot host computer software;

Figure 4 is an interface diagram of the embedded driver module;

Fig. 5 is a flowchart of information interaction between the embedded driver module and the host computer software;

Figure 6 is a description table of related registers in the bxCAN filter bank;

Fig. 7 is a normal mode control frame information table;

Fig. 8 is the track PVT mode control frame information table;

Fig. 9 is a control mode identifier information table;

Fig. 10 is a schematic diagram of track discrete points;

Fig. 11 is a block diagram of the admittance control model;

Reference signs:

1. Host computer software; 2. Communication module; 3. Force sensor module; 4. Embedded driver module; 5. Motor module; 6. Multi-serial communication function; 7. Robot motion control function; 8. Robot operation information collection function ;9. The driver hardware parameter modification function.

detailed description

Firstly, the application of the embodiment of the present invention is described. This control system is used for the control of wearable fracture surgery and rehabilitation robots. The pose control and force control of the robot are mainly realized by adjusting the rod length of the branch chain of the robot. The present invention will be described in further detail below in conjunction with accompanying drawing example, description is exemplary, only for explaining the present invention, and can not be interpreted as the restriction of the present invention.

As shown in Figure 1, the structure of the wearable fracture reduction and rehabilitation robot control system of the present invention mainly includes three aspects: a network layer, a master-slave layer, and an execution layer.

The network layer refers to the host computer software 1 used for human-computer interaction information. The master-slave layer is composed of a communication module 2, a force sensor module 3, and an embedded driver module 4, which are used to receive and execute control commands from the host computer software 1. The execution layer refers to the motor module 5 that provides torque for the movement of the robot.

It should be noted that the control system of the present invention is a distributed control system, which is different from a centralized control system. The host computer software 1 is responsible for issuing instructions, and the embedded driver module 4 completes real-time control.

As shown in Figure 2, the robot pose control process is as follows:

1) The interface of the host computer software 1 inputs a position control command;

2) The upper computer software 1 obtains the rod length of the branch chain of the robot according to the inverse solution algorithm of the robot mechanism and converts the corresponding encoder pulse value;

3) the host computer software 1 transmits control instructions to the embedded driver module 4;

4) The embedded driver module 4 adjusts the movement of the robot from the current pose to the desired pose according to the control instruction.

The host computer software 1 is developed based on QT and Visio Studio 2017. By reading the trajectory and force sensor information given by the doctor, it controls the robot to assist the doctor in better fracture reduction and rehabilitation. At the same time, it can also collect and record the movement information of the robot in real time, so as to facilitate the evaluation of the patient's rehabilitation.

The host computer software 1 is embedded with forward and reverse solution algorithm of robot mechanism kinematics and trajectory planning algorithm, communicates with the force sensor module 3 through the RS485 module, and communicates with the motor driver through the USB to CAN module. As shown in FIG. 3 , the functional structure of the host computer software 1 includes a multi-serial port communication function 6 , a robot motion control function 7 , a robot operation information collection function 8 and a driver hardware parameter modification function 9 .

The multi-serial port communication function 6 includes: 1) motor driver communication interface; 2) force sensor communication interface. The robot motion control function 7 includes: 1) track data reading and control; 2) track polynomial interpolation jog control; 3) position trapezoidal acceleration and deceleration jog control; 4) robot step control; 5) motor uniform speed operation; The robot operation information collection function includes: 1) motor position, speed, current information collection 2) force sensor information collection. The driver hardware parameter modification function includes: 1) driver hardware parameter reading 2) driver hardware parameter modification (PID parameter, maximum PWM parameter, control target error, trapezoidal programming acceleration and deceleration, return information protocol selection, hardware version number, etc. Revise).

The design of the embedded driver module 4 mainly includes hardware design and application program design. The hardware design mainly consists of a control circuit and a drive circuit. The main function of the control circuit is to receive and analyze external control instructions, and send motor control signals to the drive circuit. The driving circuit is used to receive the motor control signal, and control the motor through the H bridge circuit.

Specifically, the control circuit uses STM32F405RGTx as the main control chip, and the CAN bus transceiver uses the SN65HVD233-Q1 chip with high reliability and high communication rate. The drive circuit uses the DRV8876 motor drive chip, which has the functions of integrated current detection and adjustment. Integrated current sensing allows the driver to regulate motor current during start-up and during high load events. The current limit can be programmed using an adjustable external voltage reference.

As shown in accompanying drawing 4, described embedded driver module 4 mainly comprises: motor sensor and drive interface, driver power supply interface, CAN bus communication interface, serial port communication interface, motor power supply interface, external ADC acquisition interface, program download interface, and Reset button, CAN bus ID selection DIP switch, status display LED.

Specifically, the status display LEDs are used to observe the control status of the driver more intuitively, the red LEDs are used for power-on indication, and the green LEDs are used for motor running status indication. The CAN bus ID selection dial switch is used to determine the node number of the corresponding driver on the CAN bus, and the maximum node number is 8. The need to add more nodes on the bus should be specified within the driver application.

It should be noted that the embedded driver module 4 integrates the power supply chip, the driver chip, the communication chip and the control chip on the same control board, and the control board has a small area and a high degree of integration.

As shown in accompanying drawing 5, described embedded driver module 4 and described host computer software 1 carry out information interaction process as follows: 1) after described embedded driver module 4 is powered on, need first clock module, GPIO module, external The interrupt module, timer module, ADC module and CAN controller module are initialized. 2) After the initialization is completed, the embedded driver module 4 waits for the CAN receiving interrupt, and an interrupt will occur every time a byte is received. According to the embedded interrupt program, when the receiving condition is satisfied, the data receiving success flag position is 1. 3) At this time, the embedded driver module 4 closes the external interrupt, analyzes specific control instructions, opens the timer, and enters the corresponding control mode. 4) After the execution of the instruction is completed, open the external interrupt and wait for the next data reception at the same time.

Use the bxCAN filter list mode on the CAN bus communication, and filter out unnecessary information on the hardware by setting the CAN message ID in advance, thus greatly improving the communication efficiency. In the bxCAN filter, it consists of two 32-bit registers: CAN_FxR1 and CAN_FxR2. Since the cube library is used, in the cube library, the CAN_FxR1 and CAN_FxR2 registers are divided into two sections, the upper 16 bits of the CAN_FxR1 register correspond to the FilterIdHigh in the above code, the lower 16 bits correspond to the FilterIdLow, and the upper 16 bits of the CAN_FxR2 register The bit corresponds to FilterMaskIdHigh, and the lower 16 bits correspond to FilterMaskIdLow.

As shown in Figure 6, by setting the values of FSCx and FBMx, the filter works in a 16-bit wide list mode, and the four 16-bit variables FilterIdHigh, FilterIdLow, FilterMaskIdHigh, and FilterMaskIdLow are used to store a standard CAN ID. In this way, the corresponding drive specific ID and data broadcast ID can be stored.

The communication protocol stipulates that each frame control command includes: frame header and frame tail, control mode identifier, CAN bus ID identifier, specific control data identifier, and checksum data identifier.

As shown in Figure 7, the control mode identifier includes: motor speed control mode identifier, set drive chip current protection identifier, single point position control mode identifier, track PVT control mode identifier, read motor code Device information identifier, read motor current information identifier, read FLASH table specified bit identifier, modify FLASH table specified bit identifier, FLASH table restore default value identifier.

As shown in Figures 8 and 9, each frame of control information in normal mode includes 11 characters, and each frame of control information in trajectory PVT control mode includes 16 characters. Among them, the starting character is: "{"; the second character is the CAN bus ID identifier; the third character is the control mode identifier. In the normal mode data frame, the 4th to 9th identifiers are control specific data identifiers, and the 10th identifier is a check code. In the trajectory PVT control mode data frame, the 4th identifier is the trajectory node label, the 5th to 14th identifiers are control specific data identifiers, and the 15th identifier is the check code.

It should be noted that the miniaturized control system of the wearable fracture reduction and rehabilitation robot proposed by the present invention is a distributed control system, but the upper computer software is developed based on a non-real-time operating system, which cannot guarantee millisecond-level real-time performance. Furthermore, the wearable fracture reduction and rehabilitation robot is a 6-DOF parallel mechanism (see patent CN111685880A), which requires multi-axis coordinated motion to achieve terminal pose control. In order to solve the above problems, a distributed multi-axis cooperative control method based on non-real-time host computer system is proposed.

During the multi-axis coordinated control process, the host computer software 1 mainly performs offline trajectory planning, and sends key point information to the embedded driver module 4 after the planning is completed. As shown in Figure 10, after the host computer obtains N+1 discrete points, the running curve between adjacent discrete points is continuously fitted by the cubic polynomial interpolation algorithm. Its expression is:

1) Each discrete point position equation, its expression is:

θ _i+1 ＝a _i +b _i Δt+c _i Δt ² +d _i Δt ³ (0≤Δt≤t _i+1 -t _i )

2) Velocity acceleration continuity equation, its expression is:

3) The speed constraint equation of the starting point and ending point, its expression is:

Further, after the equations are solved to obtain each coefficient, the velocity and time information of the discrete points are given. When the speed exceeds the maximum speed limit, adjust the running time to re-fit the curve until it meets the requirements. Finally, the key discrete point PVT information is sent to each of the embedded driver modules 4 .

Specifically, the embedded driver module 4 is internally embedded with an incremental double-loop PID control algorithm, the speed loop control period is 10ms, and the current loop control period is 1ms. Before each data exchange, the control chip needs to send the PWM value to the driver chip, and at the same time read the current speed value and current value through the driver chip. After data exchange, before the next data exchange time node, the control chip needs to quickly calculate the given value that needs to be sent to the driver chip next time based on the read feedback value, and the driver chip needs to complete the corresponding target value according to the given target value of the control chip. action. The entire real-time calculation task is completed by the integrated control chip inside the embedded driver module 4 .

Of course, the above-mentioned control process is all completed in the robot joint space. After the discrete points planned by the host computer software 1 are sent to the fixed number of the embedded driver modules 4, the data broadcast through the CAN bus (setting the public CAN The broadcast ID enables the startup command to pass through the bxCAN filter of the embedded driver module 4 to ensure that each of the embedded driver modules receives the instruction and starts at the same time. In this way, the instructions of each embedded driver module 4 are synchronized in a certain sense, so as to realize the distributed multi-axis cooperative control of the robot.

Further, the embedded driver module 4 is embedded with a fuzzy admittance control algorithm, so as to realize the control of the patient's active rehabilitation stage and prevent secondary injuries caused by improper rehabilitation training.

The fuzzy admittance control algorithm design mainly includes the design of target admittance model and fuzzy controller. The target admittance model is a second-order mass-spring-damper model, which represents the dynamic relationship between the ideal robot terminal position and the robot/environment force. The fuzzy controller is used to adjust the parameters of the target admittance model to meet the requirements of patients of the same age group and different rehabilitation stages.

As shown in FIG. 11 , the entire fuzzy admittance control inner loop is a position closed loop, and the outer loop is an admittance control closed loop. The force information of each axis is collected by the force sensor, the target position value is obtained through the admittance model, and the target position value is input to the inner ring position controller, so as to realize the control of the end trajectory under different admittance parameters, so that the robot’s Each joint has flexibility, which preserves the safety of the rehabilitation training process.

The above description of the present invention is only illustrative rather than restrictive, so the embodiments of the present invention are not limited to the above-mentioned specific embodiments. If a person of ordinary skill in the art is inspired by it, without departing from the gist of the present invention and the protection scope of the claims, other changes or modifications are made, all of which belong to the protection scope of the present invention.

Claims

A control system for a wearable fracture surgery and rehabilitation robot, characterized in that it includes three aspects: a network layer, a master-slave layer, and an execution layer. The network layer refers to the upper computer software module used for human-computer interaction information ; The master-slave layer is composed of a communication module, a force sensor module, and an embedded driver module, and is used to receive and execute control commands from the host computer software; the execution layer refers to a motor module that provides torque for robot motion;

The upper computer software module is internally embedded with a mechanism kinematics forward and reverse solution algorithm and a trajectory planning algorithm; the upper computer software module adopts a multi-threaded communication mode of RS485 serial port communication and USB to CAN bus communication;

The upper computer software module and the embedded driver module are connected through a communication module; the communication module is a USB-CAN bus converter, which converts the upper computer USB instruction into a serial port instruction through the CH340 chip, and finally converts the serial port instruction into The CAN bus command is sent to the inside of the embedded driver;

The hardware of the embedded driver module is composed of a control circuit and a drive circuit; the control circuit is used to receive and analyze external control instructions, and send motor control signals to the drive circuit; the drive circuit is used to receive the motor The control signal controls the motor through the H bridge circuit; the hardware interface of the embedded driver module includes: motor sensor and drive interface, driver power interface, CAN bus communication interface, serial communication interface, motor power interface, external ADC acquisition interface . A program download interface; the embedded driver module integrates a power chip, a driver chip, a communication chip, and a control chip into the same control circuit board.
The control system of the wearable fracture surgery and rehabilitation robot according to claim 1, wherein the application program of the embedded driver module is composed of a control instruction receiving module, a control algorithm module, a motion control module, and a control instruction sending module The control instruction receiving module receives the motion control instruction of the upper computer software module, triggers a corresponding interrupt to the control algorithm module, and the bottom layer control is handed over to the motion control module, and finally the operation information is sent by the control instruction sending module to the inside of the upper computer software module.
According to the control system of the wearable fracture surgery and rehabilitation robot according to claim 2, it is characterized in that, the control command receiving module and the control command sending module are implemented according to a self-defined communication protocol; the control commands include motor speed control, setting Fixed drive chip current protection, single-point position control, trajectory PVT control, reading motor encoder information, reading motor current information, reading the specified bit of the FLASH table, modifying the specified bit of the FLASH table, and restoring the default value of the FLASH table; the control frame includes Common mode control frame and trajectory PVT mode control frame; each frame control information includes frame header, frame tail, CAN bus ID, control mode identification, control specific data, and check code.
According to the control system of the wearable fracture surgery and rehabilitation robot according to claim 2, it is characterized in that the control algorithm module includes a distributed multi-axis collaborative control method and a rehabilitation control algorithm; the distributed multi-axis collaborative control The method is realized based on CAN bus broadcasting and cubic polynomial interpolation trajectory control algorithm; the rehabilitation control algorithm is realized by fuzzy admittance control algorithm.
According to the control system of the wearable fracture surgery and rehabilitation robot according to claim 4, it is characterized in that the fuzzy admittance control algorithm is embedded in the embedded driver module, by establishing a fuzzy logic model and an admittance model, and then According to the collected force information, the target position is adjusted in real time to comply with the patient's rehabilitation movement intention.
According to the control system of the wearable fracture surgery and rehabilitation robot according to claim 4, it is characterized in that, the software module of the host computer and the embedded driver module are both embedded in the third-order polynomial interpolation trajectory control algorithm, when the embedded After the formula driver module obtains the key point PVT information, since the path points calculated by the host computer software module are relatively sparse, it is necessary to perform trajectory interpolation on a series of path points obtained first, and the trajectory interpolation is controlled by the cubic polynomial interpolation trajectory control algorithm accomplish.
According to the control system of the wearable fracture surgery and rehabilitation robot according to claim 6, it is characterized in that the control process is completed in the joint space of the robot, and the discrete points planned by the software module of the upper computer are sent to a fixed number of the embedded After the inside of the embedded driver module, the data broadcast of the CAN bus is used to ensure that each of the embedded driver modules receives instructions and starts at the same time, so as to ensure that the instructions of the fixed number of embedded driver modules are synchronized, thereby realizing the robot. Distributed multi-axis collaborative control.
According to the control method of the control system according to any one of claims 1-7, it is characterized in that it comprises the following steps:

1) The software module interface of the host computer inputs a position control command;

2) The upper computer software module obtains the rod lengths of the six branch chains of the robot according to the inverse solution algorithm of the robot mechanism and converts the corresponding encoder pulse values;

3) the host computer software module transmits control instructions to the embedded driver module;

4) The embedded driver module adjusts the movement of the robot from the current pose to the desired pose according to the control instruction.
According to the control method according to claim 8, it is characterized in that, the process of information interaction between the embedded driver module and the host computer software is as follows:

1) After the embedded driver module is powered on, it is necessary to initialize the clock module, GPIO module, external interrupt module, timer module, ADC module, and CAN controller module;

2) After the initialization is completed, the embedded driver module waits for the CAN to receive an interrupt, and an interrupt will occur for each byte received; according to the embedded interrupt program, when the receiving condition is met, the data is received successfully to mark the position;

3) At this time, the embedded driver module closes the external interrupt, analyzes specific control instructions, turns on the timer, and enters the corresponding control mode;

4) After the execution of the instruction is completed, open the external interrupt and wait for the next data reception at the same time.
The control method according to claim 9, wherein the bxCAN filter list mode is used in the CAN bus communication, and the unnecessary information is filtered out in hardware by setting the CAN message ID in advance.