摘要
本文介绍了一种体外碎石机定位机械臂坐标测量系统的设计思路及原理。它成功地运用了光电编码器作为角度传感器来检测三维空间坐标，并设计了一个简单实用的光电编码器输出信号判向度四倍频电路。在推导坐标变换矩阵时，将机械臂展开，使推导过程清晰简单。
This paper presents the method and theory of the robotaom measuring system designed for the Extracorporeal Shock Wave Lithotripter's stone-positioning.It suceessfully applices the optical enco ders as the angle sensors to get the stone's3-dimensional space coordinates. A simple and practical circuit is designed to increase the optical encoder's resolution by four times and to test the rotatory directions.
出处
《中国医疗器械杂志》
CAS
1996年第3期134-142,共9页
Chinese Journal of Medical Instrumentation
关键词
空间坐标测量
医用碎石机
超声波定位
Spece coordinate measurement. Optical encoder,Coordinate transformation, ESWL-ter'a B-ultrasound positioning.
