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 C2 continuity of the transitional curve by curvature distribution.
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张平,梁艳阳,刘宏伟,王效杰,张健.工业机器人任务空间复杂姿态平滑过渡技术[J].机床与液压,2016,44(5):76-79. . Complex Orientation Smooth Transition Technique of Industrial Robot in Task Space[J]. Machine Tool & Hydraulics,2016,44(5):76-79