C2-continuous orientation trajectory planning for robot based on spline quaternion curve

Xuejuan, Niu

doi:10.1108/aa-04-2017-050

Cited by 11 publications

(4 citation statements)

References 24 publications

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“…At present, according to the above basic principles, predecessors have deduced most of the inverse kinematics subproblems [13], which can be summarized in 11 cases, as shown in Table 3 [14] (R means rotating joint, T means moving joint). Most of the inverse kinematic problems of robots with nonredundant degrees of freedom can be solved by reducing them to these subproblems.…”

Section: Motion Trajectory Algorithmmentioning

confidence: 99%

Motion Trajectory Planning and Design of Material Spraying Service Robot

Wang

Wen

Feng

et al. 2022

Advances in Materials Science and Engineering

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The application of robots reduces repetitive and dangerous tasks for humans, especially the spraying robot, because many spraying materials are corrosive, toxic, and harmful. This paper designs the motion trajectory planning of the material spraying service robot. With the increasing demand for technology, there are strict requirements for the uniformity and thickness of spraying. In view of this, this paper proposes an algorithm for modeling kinematics using a joint screw and optimizes the modeling algorithm using particle swarm optimization. This makes the industrial spraying robot more intelligent and more capable of completing high-standard tasks. The experimental results in this paper show that when the spraying radii on the large-curvature cone surface are 44.5 and 49.5 mm, respectively, the coating distribution in the intersection area of the curved surfaces can be well controlled, and the optimized algorithm can better plan the path of the spraying robot.

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Section: Motion Trajectory Algorithmmentioning

confidence: 99%

Motion Trajectory Planning and Design of Material Spraying Service Robot

Wang

Wen

Feng

et al. 2022

Advances in Materials Science and Engineering

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“…Thus, the quaternion is used for orientation smoothing in this paper. The details of converting rotation matrix R to unit quaternion orientation are introduced in Niu and Tian (2018).…”

Section: Overview Of the Algorithmmentioning

confidence: 99%

“…The piecewise-linear robot paths consist of a series of tool center positions and a series of unit orientations. Therefore, the robot path smoothing is divided into position path smoothing and orientation path smoothing (Lima et al , 2016; Niu and Tian, 2018). To improve the continuity of position paths, some methods, e.g.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, the orientation smoothing based on Euler angle or rotation matrix is less efficient than quaternion. Thus, the quaternion is widely used in robot orientation smoothing because of its advantages such as simple description, intuition and low computation (Niu and Tian, 2018). Quaternions were discovered and proposed by Hamilton in 1843.…”

Section: Introductionmentioning

confidence: 99%

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A C2 continuous trajectory planning method for 6-DOF rotational robot manipulators

Min

Zhang

et al. 2022

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Purpose The purpose of this paper is to propose a smooth double-spline interpolation method for six-degree-of-freedom rotational robot manipulators, achieving the global C2 continuity of the robot trajectory. Design/methodology/approach This paper presents a smooth double-spline interpolation method, achieving the global C2 continuity of the robot trajectory. The tool center positions and quaternion orientations are first fitted by a cubic B-spline curve and a quartic-polynomial-based quaternion spline curve, respectively. Then, a parameter synchronization model is proposed to realize the synchronous and smooth movement of the robot along the double spline curves. Finally, an extra u-s function is used to record the relationship between the B-spline parameter and its arc length parameter, which may reduce the feed rate fluctuation in interpolation. The seven segments jerk-limited feed rate profile is used to generate motion commands for algorithm validation. Findings The simulation and experimental results demonstrate that the proposed method is effective and can generate the global C2-continuity robot trajectory. Originality/value The main contributions of this paper are as follows: guarantee the C2 continuity of the position path and quaternion orientation path simultaneously; provide a parameter synchronization model to realize the synchronous and smooth movement of the robot along the double spline curves; and add an extra u-s function to realize arc length parameterization of the B-spline path, which may reduce the feed rate fluctuation in interpolation.

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Robust Rotation Interpolation Based on SO(n) Geodesic Distance

Liu

Ding

et al. 2019

Lecture Notes in Computer Science

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C2-continuous orientation trajectory planning for robot based on spline quaternion curve

Cited by 11 publications

References 24 publications

Motion Trajectory Planning and Design of Material Spraying Service Robot

Motion Trajectory Planning and Design of Material Spraying Service Robot

A C2 continuous trajectory planning method for 6-DOF rotational robot manipulators

Robust Rotation Interpolation Based on SO(n) Geodesic Distance

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