Quaternion Interpolation Path Planning Method for Dual-robot Collaborative Rotation
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摘要: 双机器人绕中心点协同旋转可实现工件在空间中的灵巧姿态变换，本文提出一种基于四元数路径圆弧插补方法，应用于路径控制点的坐标旋转与坐标位置插补。首先，将路径圆弧初始控制点表示为四维齐次变换矩阵，提取三维旋转矩阵与坐标向量两个部分。然后，把旋转矩阵转换为四元数进行坐标旋转插补，对控制点坐标向量进行位置插补，以求解该方法的齐次变换矩阵通解；最后，由逆运动学得出插补控制点的关节坐标系，导入机器人示教器，以对双机器人协同旋转进行实验验证。实验结果表明：该方法能计算出路径圆弧轨迹的插补控制点，插补路径平滑，符合关节角限制，圆度误差控制在1.1 mm以内。可实现双机器人协调搬运工件在空间中的多角度对中心旋转，具有普遍适用性。Abstract: A dexterous attitude transformation of workpiece in space can be realized by co-rotating two robots around the center point. A quaternion path arc interpolation method is proposed, and applied to coordinate rotation and coordinate position interpolation of path control points. Firstly, the initial control points of the path arc are expressed as four-dimensional homogeneous transformation matrix, and the three-dimensional rotation matrix and coordinate vector are extracted. Then, the rotation matrix is transformed into quaternion for coordinate rotation interpolation, and the coordinate vector of the control point is interpolated to solve the general solution of the homogeneous transformation matrix of the proposed method. Finally, the joint coordinate system of the interpolation control point is obtained by inverse kinematics, then imported into the robot instructor, and the co-rotation of the two robots is experimented. Analysis and experimental show that the interpolation control points of the path arc trajectory can be calculated by the proposed method. The interpolation path is smooth, the joint angle limitation is fulfilled, and the roundness error is controlled within 1.1 mm. This proposed method can realize the coordinated movement of workpiece by two robots in space with multi-angle rotation to the center, and has good performance of universal applicability.
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Key words:
- dual-robot /
- collaborative rotation /
- quaternion /
- path planning
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