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