A multi-arm robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segment in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A * search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and robot platform, and finally the animal experiment is carried out. These experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator. INDEX TERMS C-space mapping, collision avoidance control, medical robot, multi-arm robot, path planning.
The task of the surgical robot for jaw reconstruction is to complete the accurate and stable lifting and positioning of the restoration implant, and the continuous trajectory of its space is not high. Therefore, joint space is used for trajectory planning. The task of mandible reconstruction robot is to set the constraint of trajectory function at the beginning and the end. There is no mandatory requirement for the middle path. Therefore, the PTP (point to point) method with middle point is chosen. The middle point needed by PTP is far less than CP (continuous path), and it does not need frequent interpolation. The calculation avoids the singular position on the continuous trajectory, improves the safety and real-time of the robot control, and the reasonable selection of the middle point is also conducive to the realization of collision avoidance between the arms.
With the development of the industrialization of buildings, the demand for wallboard is increasing. The development of wallboard automatic production lines can solve the problems of low efficiency and low automation in the production process of wallboard. In the paper, the insufficient of the method that wall panel length detection in JGT169-2016 is considered, the automatic measurement system and cutting surface flatness analysis experiment is designed. Using MATLAB to filter and fit data. Optimize the cutting speed of wallboard based on LJQB-JX-600-QGJ.01 cutting machine. Through experimental analysis, better control parameters are selected for production control, and the quality of production wallboard is further improved, thereby improving the quality of the production line.
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