This thesis aims to actuate a miniature parallel robot that has four degrees of freedom
(three translational and one rotational) to perform milling along defined paths for tooth preparation. One
of the challenges is to plan smooth, feasible trajectories and desired robot poses that avoid singularities
for the miniature robot with a parallel mechanism.
This thesis aims to actuate a miniature parallel robot that has four degrees of freedom (three translational and one rotational) to perform milling along defined paths for tooth preparation. One of the challenges is to plan smooth, feasible trajectories and desired robot poses that avoid singularities for the miniature robot with a parallel mechanism.
The goal is to investigate and implement a miniature robot milling trajectory planning and trajectory tracking control for tooth preparation.
Recommended working package:
- Analyzing the requirements for milling trajectories for tooth preparation and control strategies
- Conducting literature research on existing trajectories planning and control strategies
- Selection of the most promising trajectories planning and tracking control strategies
- Trajectories generation and implementation of miniature robot trajectory tracking control
- Evaluation of the performance according to the specified requirements
The goal is to investigate and implement a miniature robot milling trajectory planning and trajectory tracking control for tooth preparation.
Recommended working package: - Analyzing the requirements for milling trajectories for tooth preparation and control strategies - Conducting literature research on existing trajectories planning and control strategies - Selection of the most promising trajectories planning and tracking control strategies - Trajectories generation and implementation of miniature robot trajectory tracking control - Evaluation of the performance according to the specified requirements