工业机器人任务空间复杂姿态平滑过渡技术  

Complex Orientation Smooth Transition Technique of Industrial Robot in Task Space

作　　者：张平[1] 梁艳阳[1] 刘宏伟[1] 王效杰[1] 张健[1] 

机构地区：[1]西南科技大学信息学院,四川绵阳621010

出　　处：《机床与液压》2016年第5期76-79,共4页Machine Tool & Hydraulics

基　　金：四川省科技计划项目(2014NZ0118)

摘　　要：针对工业机器人任务空间姿态轨迹过渡问题,提出了用三次均匀样条四元数插补算法来构造姿态过渡曲线。能够根据给定的任意复杂姿态曲线和过渡点,通过反解出控制点和节点向量得到姿态过渡曲线;通过计算生成样条四元数过渡曲线曲率,进一步得证曲线具有C^2连续性。结果表明:所用算法能够精确地实现工业机器人任务空间姿态平滑过渡,并通过曲率分布图验证了过渡曲线的C^2连续性。Aiming at the problem of orientation transitional trajectory of industrial robot in task space,it was put forward of using the three uniform spline quaternion curve interpolation algorithm to producing orientation transitional trajectory.According to the given arbitrary complex orientation trajectory and transitional point,the orientation transitional trajectory was gotten by calculating in reverse the control point and knot vector.At the sime time,calculating the curvature of the spline quaternion curve and further evidence curve had C^2 continuity.The results show that the used algorithm can realize precise smooth transition of orientation trajectory of industrial robot in task space,and proves that the C^2 continuity of the transitional curve by curvature distribution.

关 键 词：工业机器人 姿态平滑过渡 样条四元数 四元数曲率 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]