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论文:2019,Vol:37,Issue(6):1165-1173 |
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引用本文： |
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普亚松, 史耀耀, 蔺小军, 郭剑. 基于对数四元数的工业机器人Hermite样条曲线姿态插值[J]. 西北工业大学学报 |
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PU Yasong, SHI Yaoyao, LIN Xiaojun, GUO Jian. Interpolating Industrial Robot Orientation with Hermite Spline Curve Based on Logarithmic Quaternion[J]. Northwestern polytechnical university |
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| 基于对数四元数的工业机器人Hermite样条曲线姿态插值 |
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| 普亚松1,2, 史耀耀1, 蔺小军1, 郭剑1 |
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1. 西北工业大学 现代设计与集成制造技术实验室, 陕西 西安 710072;
2. 红河学院 工学院, 云南 蒙自 661100 |
| 摘要: |
| 平滑的姿态规划对工业机器人工作质量、使用寿命有着重要的影响。以对数四元数为基础，提出一种从笛卡尔空间样条曲线映射到四元数空间的方法，从而实现四元数多姿态平滑插值。结合相关算例，详细介绍了笛卡尔空间Hermite样条曲线映射到时四元数空间的多姿态插值方法与步骤，验证了该方法进行四元数多姿态插值的合理性。提出的四元数多姿态平滑插值具有构造方法简单、易于实现、直观易理解的特点。该方法除了适用于Hermite样条曲线的四元数多姿态插值，还可延伸到贝赛尔曲线、B样条曲线等样条曲线上。 |
| 关键词:
工业机器人
多姿态插值
对数四元数
样条曲线
平滑插值
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| Interpolating Industrial Robot Orientation with Hermite Spline Curve Based on Logarithmic Quaternion |
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| PU Yasong1,2, SHI Yaoyao1, LIN Xiaojun1, GUO Jian1 |
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1. Laboratory of Contemporary Design and Integrated Technology, Northwestern Polytechnical University, Xi'an 710072, China;
2. College of Engineering, Honghe University, Mengzi 661100, China |
| Abstract: |
| Smooth orientation planning has an important influence on the working quality and service life as for industrial robot. Based on the logarithmic quaternion, a compact method to map a spline curve from Cartesian space to quaternion space is proposed, and consequently the multi-orientation smooth interpolation of quaternion is realized. Combining with the relevant example case, the detailed method and steps of multi-orientation interpolation are introduced for mapping Hermite spline curve into quaternion space, and the validity of the principle is verified by using the example case. The present multi-orientation smooth interpolation of quaternion has the characteristics of simple construction, easy implementation and intuitive understanding. The method is not only applicable to multi-orientation interpolation of quaternion with Hermite spline curve, but also can extended to the spline curves such as Bezier spline and B-spline. |
| Key words:
industrial robot
multi-orientation interpolation
logarithmic quaternion
spline cure
smooth interpolation
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| 收稿日期: 2018-12-25
修回日期:
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| DOI: 10.1051/jnwpu/20193761165 |
| 基金项目: 国家科技重大专项（2015ZX04001003）资助 |
| 通讯作者:
Email： |
| 作者简介: 普亚松(1976-),西北工业大学博士研究生,主要从事工业机器人抛光、机械CAD/CAM研究。
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