In:
Journal of Ambient Intelligence and Humanized Computing, Springer Science and Business Media LLC, Vol. 11, No. 12 ( 2020-12), p. 6223-6234
Abstract:
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.
Type of Medium:
Online Resource
ISSN:
1868-5137
,
1868-5145
DOI:
10.1007/s12652-020-02605-8
Language:
English
Publisher:
Springer Science and Business Media LLC
Publication Date:
2020
detail.hit.zdb_id:
2543187-0
Permalink