Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory
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ORIGINAL RESEARCH
Intelligent automation of dental material analysis using robotic arm with Jerk optimized trajectory Robertas Damaševičius1 · Rytis Maskeliūnas2 · Gintautas Narvydas3 · Rūta Narbutaitė4 · Dawid Połap5 · Marcin Woźniak5 Received: 14 June 2019 / Accepted: 8 October 2020 © The Author(s) 2020
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. Keywords Smart dental laboratory · Total laboratory automation · Motion planning · Pareto optimization · Industrial robotics
1 Introduction * Marcin Woźniak [email protected] Robertas Damaševičius [email protected] Rytis Maskeliūnas [email protected] Gintautas Narvydas [email protected] Rūta Narbutaitė [email protected] Dawid Połap [email protected] 1
Department of Applied Informatics, Vytautas Magnus University, Vileikos 8, Kaunas 44404, Lithuania
2
Department of Multimedia Engineering, Kaunas University of Technology, K. Barsausko 59, Kaunas 51423, Lithuania
3
Department of Control Systems, Kaunas University of Technology, K. Barsausko 59, Kaunas 51423, Lithuania
4
Department of Dental and Oral Pathology, Lithuanian University of Health Sciences, Eiveniu 2, Kaunas 50161, Lithuania
5
Faculty of Applied Mathematics, Silesian University of Technology, Kaszubska 23, 44‑100 Gliwice, Poland
Total Laboratory Automation (TLA) envisions automation and integration of laboratory testing such that specimens are processed, tested, and stored with minimal user intervention (Genzen et al. 2017). The motivation for TLA is provided by workforce shortage of laboratory professionals, and ability to shorten the cycle of experiments, which is an attractive solution for many laboratories. In concept, TLA handles routine, repetitive steps while maintaining quality and efficiency of the experimental procedures and allowing researchers and laboratory operators to focus on specialized testing that requires creativity and contributes towards their training and expertise. A variety of TLA solutions have been available with technologies that have been advanced based on engineering innovation (see a survey presented in Irene (2018)). For ex
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