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Trajectory tracking control of robotic jaw actuators via Galil motion system : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Auckland, New Zealand
A mechatronic chewing robot of 6-DOF mechanism which consists mainly of the skull,
six crank actuators, end effector and motion control system has been designed and is
required to simulate human chewing behaviours while the chewed food properties are
evaluated. The robotic mechanism is proposed and its kinematic parameters are defined
according to the biomechanical findings and measurements of the human masticatory
This thesis is concerned with the design and implementation of trajectory tracking control
for robotic jaw actuators via Galil motion controller. The aim of this project is to simulate
the dynamics behaviour and force-motion control of the robot, and to quantitatively
assess food texture changes during chewing. A control system based Galil motion control
card has been formed to achieve the motion of simulated human mastication. Some real
human mastication motion have been tracked and used as targeted trajectories for the
robot to reproduce.
Several experiments have been executed to measure the jaw movements and chewing
forces. To reduce the vibration of the actuators and protect sensitive linkage part of the
robot, the traditional PID control and some advanced control theories were implemented
to achieve most effective efforts. A mathematical model was also designed at the first
stage when a test actuator powered by brushless motor was formed; however, it is finally
proven not well controlled in either mechanical and control ways. Major features of the
built robot including the motion control system are presented and tested. Experimental
results including free chewing, soft-food and hard-food chewing are given where the
foods are simulated by foam and hard objects. Also the joint actuations and driving
torques required are compared for the chewing of different foods.
In conclusion, tracking motion control has been attempted on the physical robot and a
solution to the trajectory control has been developed.