基于单位球面轨迹的四元数插值算法评价方法  

Quaternion interpolation algorithm evaluation method based on unit spherical trajectory

作　　者：钱超群 欧屹[1] 冯虎田[1] 黄俊朋 Qian Chaoqun;Ou Yi;Feng Hutian;Huang Junpeng(School of Mechanical Engineering, Nanjing University ofScience and Technology, Jiangsu Nanjing, 210094, China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造工程》2021年第3期28-33,共6页Machine Design and Manufacturing Engineering

摘　　要：为了更有效地评价四元数的插值算法,首先详细介绍了四元数与3D旋转的关系,并从旋转关系展开常用的3种四元数插值算法。然后基于此建立了一种基于单位球面轨迹的插值算法评价方法。最后用实验证明该方法可以直观看到插值单位四元数序列的旋转效果,并且建立的虚拟关节空间可以评价插值算法对关节空间轨迹的影响。To evaluate quaternion interpolation algorithm more effectively,the relationship between quaternion and 3D rotation is detailed,and three commonly used quaternion interpolation algorithms are expanded from the rotation relationship.Then,an evaluation method of interpolation algorithm based on unit spherical trajectory is established.Finally,experiments show that the method can directly see the rotation effect of the interpolation unit quaternion sequence,and the virtual joint space can evaluate the influence of the interpolation algorithm on the joint space trajectory.

关 键 词：四元数 3D旋转 插值算法 单位球 评价方法 

分 类 号：TH692.9[机械工程—机械制造及自动化]