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

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dc.contributor.authorChen, Biqing
dc.date.accessioned2009-07-14T02:53:58Z
dc.date.availableNO_RESTRICTIONen_US
dc.date.available2009-07-14T02:53:58Z
dc.date.issued2008
dc.description.abstractA 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 system. 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.en_US
dc.identifier.urihttp://hdl.handle.net/10179/920
dc.identifier.wikidataQ112877143
dc.identifier.wikidata-urihttps://www.wikidata.org/wiki/Q112877143
dc.language.isoenen_US
dc.publisherMassey Universityen_US
dc.rightsThe Authoren_US
dc.subjectRoboticsen_US
dc.subjectMechatronic chewing roboten_US
dc.subjectRobotic jaw actuatorsen_US
dc.subjectGalil motion controlen_US
dc.subjectEngineeringen_US
dc.subjectMechatronicsen_US
dc.subject.otherFields of Research::290000 Engineering and Technology::290500 Mechanical and Industrial Engineering::290501 Mechanical engineeringen_US
dc.titleTrajectory 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 Zealanden_US
dc.typeThesisen_US
massey.contributor.authorChen, Biqing
thesis.degree.disciplineMechatronicsen_US
thesis.degree.grantorMassey Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Engineering (M.E.)en_US
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