Path Planning And Control Of Cartesian Robot For Tooth Arrangement

The wide use of robots in medical field, especially in prosthodontics field,can greatly shorten the making period of false teeth, decrease dentists’ quantity ofwork and realize the automation, bringing enormous social benefits and economicbenefits. The most important part in developing tooth arrangement robot isdesigning a control system with comprehensive functions, open architecture andhigh reliability. Based on the existing research results at home and abroad, in thepaper set up the hardware system using PMAC as the key part and design thecontrol interface of the system.Firstly, in this paper analyse the robot structure and the process of teethranking, put forward the path planning problem of multi-objective grasping, buildthe mathematical model of the path planning problem of multi-objective graspingcompared with the typical Traveling salesman problem, solve the problem usingthe genetic algorithm and get the optimal solution, determining the grasping orderof each tooth.Establish the kinematics models for the6degrees of freedom cartesian typerobot for tooth arrangement, which including the forward kinematics model withhomogeneous transfer matrix and the inverse kinematics model with geometricmethod.Determine the specific type of each component and set up the hardwaresystem in order to carry out accurate control toward the robot. Using visual C++design the control interface of the system based on the modularized thoughts anddivide the whole interface system into seven modules and exactly explain theworking mechanism of the key modules.On the hardware system, carry out the experiment. Measure the error valuebetween the actual position and target position and analyze the error reason.