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4Robot technology in analyzing tooth removal, a proof of concept65partially flat design of the custom aluminum frame ensured a reproducible position of the dental forceps in the end-effector.Fig. 4: Holding device for dental forceps.The robot and force-torque measurementsTo obtain sub-millimeter precision and accurate repeatability of movements during the procedure, the KUKA LBR iiwa 7 R800 is used. This robot is a 7-degree of freedom collaborative robot with 7 rotational joints and recording position and orientation data of the dental forceps at 100Hz. The integrated torque and rotational sensors enable the robot to detect external forces, which makes this robot collaborative and highly suitable for integration in this measurement setup. An ATI 16 bit Delta transducer is used for recording the force and torque data in 6 axis at a speed of 20Hz. A Logitech C920 Pro HD webcam is used to record a video stream of the experiment. The latter will facilitate the interpretation of data patterns when analyzing the data later on.The platform Robotic Operating System (ROS) is used for software integration of the force/torque sensor, the video camera, and the collaborative robot[9]. ROS is an open source framework that allows for easy integration of several hardware sensors with Tom van Riet.indd 65 26-10-2023 11:59