面向口腔种植的机器人多姿态轨迹平滑规划

仲重亮,刘云峰,朱伟东,朱赴东

Multi-orientation trajectory smoothing planning of robot for dental implant

Chong-liang ZHONG,Yun-feng LIU,Wei-dong ZHU,Fu-dong ZHU

表 3 关键姿态信息

Tab.3 Information of key orientations

序号 $\theta /{\text{rad}}$ ${\boldsymbol{n}}$ ${\boldsymbol{q}}$ ${\boldsymbol{P}}$ $A$ ${\text{π/4} }$ $ \left[ {0.2,0.3,0.9327} \right] $ $ [0.9239,0.0765,0.1148,0.3569] $ $ \left[ {0.1571,0.2356,0.7325} \right] $ $B$ ${\text{π/3} }$ $ \left[ {1,0,0} \right] $ $ [0.8660,0.5000,0,0] $ $ \left[ {1.0472,0,0} \right] $ $C$ ${\text{π/6} }$ $ \left[ {0,1,0} \right] $ $ [0.9659,0,0.2588,0] $ $ \left[ {0,0.5236,0} \right] $