| Title |
Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory / |
| Authors |
Damaševičius, Robertas ; Maskeliūnas, Rytis ; Narvydas, Gintautas ; Narbutaitė, Rūta ; Połap, Dawid ; Woźniak, Marcin |
| DOI |
10.1007/s12652-020-02605-8 |
| Full Text |
|
| Is Part of |
Journal of ambient intelligence and humanized computing.. Berlin : Springer. 2020, vol. 11, p. 6223-6234.. ISSN 1868-5137. eISSN 1868-5145 |
| Keywords [eng] |
industrial robotics ; motion planning ; Pareto optimization ; smart dental laboratory ; total laboratory automation |
| Abstract [eng] |
Many types of biomaterial analysis require numerous repetition of the same operations. We suggest applying the principles of Total Laboratory Automation (TLA) for analysis of dental tissues in in-vitro conditions. We propose an innovative robotic platform with ABB high precision industrial robotic arm. We programmed the robot to achieve 3000 cycles of submerging for analysis of the stability and thermal wear of dental adhesive materials. We address the problem of robot trajectory planning to achieve smooth and precise trajectory while minimizing jerk. We generate different variants of trajectory using natural cubic splines and adopt the NSGA II multiobjective evolutionary algorithm to find a Pareto-optimal set of robot arm trajectories. The results demonstrate the applicability of the developed robotic platform for in-vitro experiments with dental materials. The platform is suitable for small or medium size dental laboratories. |
| Published |
Berlin : Springer |
| Type |
Journal article |
| Language |
English |
| Publication date |
2020 |
| CC license |
|
