Physical Sciences and Mathematics Commons^™

Kinematics Analysis And Simulation Of Automatically Tracking Dental Surgery Lamp, Zerui Jiang, Lijun Yang, Li Jun, Xiaolong Jiao, Zheng Hang

Journal of System Simulation

Abstract: In order to solve the problem that the oral surgical lamp cannot automatically adjust the irradiation posture of the surgical lamp according to the face direction and oral cavity position, a six-degree-of-freedom automatic tracking visual manipulator solution is proposed. Coordinate conversion is achieved through binocular vision to obtain three-dimensional information of oral cavity position and face normal vector. The geometric method is introduced into the kinematics calculation, and the closed solution of the inverse kinematics is obtained. The correctness is verified by the Maltab programming and the introduction of numerical values. Five-degree polynomial motion planning is performed …