面向口腔种植的机器人多姿态轨迹平滑规划  

Multi-orientation trajectory smoothing planning of robot for dental implant

作　　者：仲重亮 刘云峰[2] 朱伟东[1] 朱赴东[3] ZHONG Chong-liang;LIU Yun-feng;ZHU Wei-dong;ZHU Fu-dong(School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China;College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023,China;Stomatological Hospital,School of Medicine,Zhejiang University,Hangzhou 310006,China)

机构地区：[1]浙江大学机械工程学院,浙江杭州310027 [2]浙江工业大学机械工程学院,浙江杭州310023 [3]浙江大学医学院附属口腔医院,浙江杭州310006

出　　处：《浙江大学学报（工学版）》2023年第5期1030-1037,1049,共9页Journal of Zhejiang University：Engineering Science

基　　金：中国牙病防治基金会资助项目(A2021-008);国家自然科学基金资助项目(52175280).

摘　　要：根据口腔种植手术的要求,基于光学定位技术开发了一套自动化程度较高的种植牙手术机器人系统,并且对系统空间坐标系转换进行研究.平滑的姿态轨迹规划对口腔种植机器人工作时的精度和效率有着重要的影响,提出一种基于四元数和旋转向量的多姿态C2连续的平滑插值算法.在三维空间中采用线性插值与B样条曲线平滑拼接的方式对旋转向量进行插值计算,所对应的四元数将保持在三维空间中的连续性,实现对单位四元数C2连续的多姿态平滑插值.通过实验分析和对比验证,所提B样条多姿态平滑插值算法具有C2连续性,在实时性能和运动效率方面优于SQUAD算法,适用于机器人末端执行器的多姿态轨迹规划.A highly automated dental implant surgery robot system was developed based on the optical positioning technology according to the requirements of dental implant surgery.The transformation of system space coordinate system was studied.The smooth orientation trajectory planning has an important impact on the accuracy and efficiency of the dental implant robot.Then a multi-orientation C2 continuous smooth interpolation algorithm was proposed based on the quaternion and rotation vector.The rotation vector was interpolated by smooth splicing of linear interpolation and the B-spline curve in three-dimensional space,and the corresponding quaternion would maintain the continuity in three-dimensional space.The multi-orientation C2 continuous interpolation calculation of unit quaternion was realized.The proposed B-spline multi-orientation smooth interpolation algorithm has C2 continuity through the experimental analysis and comparative verification is superior to the SQUAD algorithm in real-time performance and motion efficiency,and is suitable for multi-orientation trajectory planning of robot end effector.

关 键 词：口腔种植 种植牙手术机器人系统 姿态轨迹规划 四元数 多姿态平滑插值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]