基于对数四元数的工业机器人Hermite样条曲线姿态插值  

Interpolating Industrial Robot Orientation with Hermite Spline Curve Based on Logarithmic Quaternion

作　　者：普亚松 史耀耀[1] 蔺小军[1] 郭剑[1] PU Yasong;SHI Yaoyao;LIN Xiaojun;GUO Jian(Laboratory of Contemporary Design and Integrated Technology, Northwestern Polytechnical University, Xi′an 710072, China;College of Engineering, Honghe University, Mengzi 661100, China)

机构地区：[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

出　　处：《西北工业大学学报》2019年第6期1165-1173,共9页Journal of Northwestern Polytechnical University

基　　金：国家科技重大专项(2015ZX04001003)资助

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。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.

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 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]