Motion Planning for Archwire Bending Robot in Orthodontic Treatments

This paper presents a motion planning method for archwire bending robot in orthodontic treatments. Because the movement of the archwire bending robot belongs to typical hybrid point-to-point movement, which has both long and short distance, thus the traditional acceleration/deceleration (acc/dec) method is not suitable for this mode of motion. In order to improve the stability and relief the impact and vibration in the process of archwire bending, a new motion planning method that based on three-order pure S acc/dec curve, 5 segments acc/dec curve, and modified acc/dec curve is established and a piecewise self-adjustment acc/dec strategy that based on displacements of three-order pure S acc/dec curve, 5 segments acc/dec curve, and modified acc/dec curve is proposed. The effect of acc/dec methods on the process of archwire bending is analyzed, and verification of the proposed method is conducted through MATLAB simulation. The MATLAB simulation realized validity of the motion planning.

[1]  Kazuo Yamazaki,et al.  An accurate adaptive NURBS curve interpolator with real-time flexible acceleration/deceleration control , 2010 .

[2]  Kyung-Soo Kim,et al.  A Closed-Form Solution to Asymmetric Motion Profile Allowing Acceleration Manipulation , 2010, IEEE Transactions on Industrial Electronics.

[3]  Samir Kouro,et al.  Unidimensional Modulation Technique for Cascaded Multilevel Converters , 2009, IEEE Transactions on Industrial Electronics.

[4]  P.H. Meckl,et al.  Optimized s-curve motion profiles for minimum residual vibration , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[5]  Li Jie.  Study on S-shape Curve Acceleration and Deceleration Control Fast Planning on CNC System , 2013 .

[6]  Han Zhen-yu.  NURBS interpolator with flexible acceleration and deceleration based on curvature properties , 2012 .

[7]  Guo Shun Ji.  Study on NURBS Curve Interpolation Based on before Acceleration/Deceleration with Linear Jerk , 2013 .

[8]  Dong Hui.  A New Speed Control Algorithm for S-curve Acceleration Deceleration , 2010 .

[9]  Jae Wook Jeon,et al.  Efficient acceleration and deceleration technique for short distance movement in industrial robots and CNC machine tools , 2000 .

[10]  Wei Xie,et al.  Design and implementation of S-shape acceleration/deceleration algorithm based on rounding error compensation tactic , 2008, 2008 7th World Congress on Intelligent Control and Automation.

[11]  Mei Xuesong.  A dissymmetrical s curve velocity plan & look-ahead algorithm for small line segments , 2010 .

[12]  Pan Hai-hong.  Trajectory Planning for Point-to-point Movement with a Constant Velocity Duration , 2006 .

[13]  Max Donath,et al.  American Control Conference , 1993 .

[14]  Jugen Nie,et al.  Research and Comparison for Acceleration and Deceleration Control Algorithm in NC Systems , 2011, 2011 International Conference of Information Technology, Computer Engineering and Management Sciences.