Page 346 - Flexible Robotics in Medicine
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Force sensing in compact concentric tube mechanism with optical fibers 337
24V power
supply
Maxon DC
motors Motor drivers:
QZ-DCC9010
attached
with HEDS RS232
encoders connectors USB–PC connection
Figure 14.8
Circuit schematic of the control system.
Power supply
Figure 14.9
Actual circuit layout with QZ-DCC9010 motor drivers at the bottom row.
The computer was connected directly with the four motor drivers using RS232 connectors,
each individually attached to a single motor. Encoder wires were connected to the motor
driver.
