机器人连续位姿同步插值轨迹规划—对数四元数、b样条曲线、c2连续位姿同步规划

**简介:**Smooth orientation planning is benefificial for the working performance and service life of industrial robots, keeping robots from violent impacts and shocks caused by discontinuous orientation planning. Nevertheless, the popular used quaternion inter polations can hardly guarantee C2 continuity for multiorientation interpolation. Aiming at the problem, an effiffifficient quaternion interpolation methodology based on logarithmic quaternion was proposed. Quaternions of more than two key orientations were expressed in the exponential forms of quaternion. &ese four-dimensional quaternions in space S3 , when logarithms were taken for them, could be converted to three-dimensional points in space R3 so that B-spline interpolation could be applied freely to interpolate. &e core formulas that B-spline interpolated points were mapped to quaternion were founded since B-spline in terpolated point vectors were decomposed to the product of unitized forms and exponents were taken for them. &eproposed methodology made B-spline curve applicable to quaternion interpolation through dimension reduction and the high-order continuity of the B-spline curve remained when B-spline interpolated points were mapped to quaternions. &e function for reversely fifinding control points of B-spline curve with zero curvature at endpoints was derived, which helped interpolation curve become smoother and sleeker. &e validity and rationality of the principle were verifified by the study case. For comparison, the study case was also analyzed by the popular quaternion interpolations, Spherical Linear Interpolation (SLERP) and Spherical and Quadrangle (SQUAD).

实现效果:

视频效果:

机器人连续位姿同步插值轨迹规划------对数四元数、b样条曲线、c2连续位姿同步规划

技术交流邮箱(欢迎交流、讨论):3531225003@qq.com

B站链接:bilili飞舞哲的个人空间_哔哩哔哩_Bilibili

相关推荐
Blossom.11816 分钟前
机器学习在智能供应链中的应用:需求预测与物流优化
人工智能·深度学习·神经网络·机器学习·计算机视觉·机器人·语音识别
合力亿捷-小亿3 小时前
客服机器人知识库怎么搭?智能客服机器人3种方案深度对比(含零售落地案例)
机器人·零售
青牛科技-Allen10 小时前
GC3910S:一款高性能双通道直流电机驱动芯片
stm32·单片机·嵌入式硬件·机器人·医疗器械·水泵、
物联网软硬件开发-轨物科技13 小时前
【轨物洞见】光伏机器人与组件、支架智能化协同白皮书
机器人
PNP机器人16 小时前
探索具身智能新高度——机器人在数据收集与学习策略中的优势和机会
机器人
NYKJ.Co16 小时前
开疆智能CCLinkIE转CANopen网关连接GBS20机器人配置案例
机器人·canopen·cclinkie
zandy101116 小时前
衡石科技chatbot分析手册--钉钉数据问答机器人配置
科技·机器人·钉钉·chatbot·衡石科技
龙潜月七1 天前
Selenium 自动化测试中跳过机器人验证的完整指南:能用
python·selenium·机器人
kyle~1 天前
ROS2---话题重映射
机器人·嵌入式·ros·控制·电控
城北有个混子1 天前
【机器人】—— 1. ROS 概述与环境搭建
机器人·ros