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C2-continuous orientation trajectory planning for robot based on spline quaternion curve

Xuejuan Niu (School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China)
Tian Wang (School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 6 August 2018

375

Abstract

Purpose

To realize the smooth interpolation of orientation on robot end-effector, this paper aims to propose a novel algorithm based on the unit quaternion spline curve.

Design/methodology/approach

This algorithm combines the spherical linear quaternion interpolation and the cubic B-spline quaternion curve. With this method, a C2-continuous smooth trajectory of multiple teaching orientations is obtained. To achieve the visualization of quaternion curves on a unit sphere, a mapping algorithm between a unit quaternion and a point on the spherical surface is given based on the physical meaning of the unit quaternion.

Findings

Finally, the curvature analysis of a practical case shows that the orientation trajectory (OT) constructed by this algorithm satisfied the C2-continuity.

Originality/value

This OT satisfies the requirement of smooth interpolation among multiple orientations on robots in industrial applications.

Keywords

Citation

Niu, X. and Wang, T. (2018), "C2-continuous orientation trajectory planning for robot based on spline quaternion curve", Assembly Automation, Vol. 38 No. 3, pp. 282-290. https://doi.org/10.1108/AA-04-2017-050

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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