Trajectory Planning of Multi-arm Robot for Mandible Reconstruction Surgery

Abstract

Abstract The task of the surgical robot for jaw reconstruction is to complete the accurate and stable lifting and positioning of the restoration implant, and the continuous trajectory of its space is not high. Therefore, joint space is used for trajectory planning. The task of mandible reconstruction robot is to set the constraint of trajectory function at the beginning and the end. There is no mandatory requirement for the middle path. Therefore, the PTP (point to point) method with middle point is chosen. The middle point needed by PTP is far less than CP (continuous path), and it does not need frequent interpolation. The calculation avoids the singular position on the continuous trajectory, improves the safety and real-time of the robot control, and the reasonable selection of the middle point is also conducive to the realization of collision avoidance between the arms.