Modeling and quality analysis of a medical manipulator actuator control system

This paper examines the modeling of a stepper drive control system for a manipulator used in medical robotic systems. A test rig design is proposed, including measuring instruments and devices for interfacing with the stepper motor under study. Special software has been developed to collect real-time information on the motion parameters and processes occurring in the stepper motor. To generate rectangular pulses that rotate the motor under test, a virtual subdevice task is generated in the software that uses a board counter and a physical computer port for outputting a control signal. The software module works in conjunction with a National Instruments data acquisition board, eliminating the need for additional control boards. A soft start and stop function for the motor is included. Test methods have been developed to analyze the accuracy and functionality of the drive system, allowing for the acquisition of a significant amount of data and the drawing of reliable conclusions about the properties and parameters of the test object.
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