Purpose
To realize the smooth interpolation of orientation on robot end-effector, this paper aims to propose a novel algorithm based on the unit quaternion spline curve.
Design/methodology/approach
This algorithm combines the spherical linear quaternion interpolation and the cubic B-spline quaternion curve. With this method, a C2-continuous smooth trajectory of multiple teaching orientations is obtained. To achieve the visualization of quaternion curves on a unit sphere, a mapping algorithm between a unit quaternion and a point on the spherical surface is given based on the physical meaning of the unit quaternion.
Findings
Finally, the curvature analysis of a practical case shows that the orientation trajectory (OT) constructed by this algorithm satisfied the C2-continuity.
Originality/value
This OT satisfies the requirement of smooth interpolation among multiple orientations on robots in industrial applications.
Robots have shown a lot of advantages for the machining of complex 3D flank surfaces and curves due to its simultaneous 6-DOF technology by which the pose of tools or pieces could be regulated dynamically. In this paper, a novel robot sculpturing planning approach is presented for the 3D sculpturing with CAD-geometry data. It focuses on the approach of the automatic trajectory generation from the 3D CAD models of freeform surfaces to the machining path by the linear interpolation. Based on the multi-layer method, iso-parameter machining method and the adaptive NURBS interpolating algorithm are employed for the rough and finish machining correspondingly. It is the compact integration of CAD and CAM which makes highly convenient process of curves and surfaces. Finally the experimental results show the feasibility of the proposed system.
In this paper a 3D terrain model machine by a 6-DOF robot is developed to build an exact replica of the geographic area in breathtaking detail and brilliant color including 3D terrain model machining and 3D full color printer. The data and image process approaches are introduced in the detail including the adaptive NURBS interpolating algorithm for the 3D terrain model machining which transforms the digital elevation model (DEM) to the data for robot control. Finally, the experiment results show the feasibility and performance of the system. Index Terms -Adaptive NURBS interpolating, 3D terrain model, 3D full color printer, DEM.
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