关键词: 机械臂, 口腔手术灯, 双目视觉, 机器人运动学, 轨迹规划, 仿真

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 on the manipulator, and the effect of trajectory control is analyzed. The distance error is within 28.73 mm, and the direction deviation is within 1.369 7°. After simulation, the solution can complete automatic positioning, tracking, and alignment as expected, providing a theoretical basis for automatically tracking oral surgical lights.

Key words: robotic arm, dental surgery lamp, binocular vision, robot kinematics, trajectory planning, simulation