Biopsy automation PT3: the motor control
This is the third article of a series. which aim is a feasibility study for a modular system for biopsy. This system is composed of the main control board based on Xilinx ZYNQ Ultrascale+ and servo satellite motor drives based on Xilinx ZYNQ-7000. Accordingly, the objective of the system is to control a robot composed of multiple joints.
So, the biopsy is executed by driving one mechanical positioner composed of 6 Permanent Magnet Synchronous Motors (PMSM) motors and multiple joints, that are coordinated to position the biopsy needle on the