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
Shilong Wang3 小时前
三维旋转沿轴分解
算法·计算机视觉·机器人
xiyuping244 小时前
ROS1学习第二弹
学习·机器人
杨小扩16 小时前
第4章:实战项目一 打造你的第一个AI知识库问答机器人 (RAG)
人工智能·机器人
合力亿捷-小亿20 小时前
从应答工具到服务大脑:智能客服机器人三代技术升级路径及3大行业场景落地全解析
机器人
xwz小王子1 天前
Science Robotics 耶鲁大学开源视触觉新范式,看出机器人柔性手的力感知
机器人·力感知
李元豪1 天前
【知足常乐ai笔记】机器人强化学习
人工智能·笔记·机器人
沫儿笙1 天前
焊接机器人智能节气装置
人工智能·机器人
MidJourney中文版1 天前
老年人与机器人玩具的情感连接
人工智能·机器人·语音识别
C++ 老炮儿的技术栈1 天前
tinyxml2 开源库与 VS2010 结合使用
c语言·数据结构·c++·算法·机器人
一颗小树x2 天前
【机器人】复现 Aether 世界模型 | 几何感知统一 ICCV 2025
人工智能·机器人·世界模型·aether