基于四元数和B样条的机械手平滑姿态规划器_刘松国.pdfVIP

43 7 浙　江　大　学　学　报 () Vol.43 No.7 2009 7 Journal of Zhejiang University (Engineering Science) Jul.2009 DOI: 0.3785/j.issn.008-973X.2009.07.004 B 刘松国, 朱世强, 王宣银, 王会方 ( , 3 0027) 　:, . , ., . , , B ., , , . :;;;B :TP242.2　　　　　:A 　　　　　: 008 973X(2009)07 92 05 Smooth orientation planner for manipulatorsbased on quaternion andB-spline LIU Song-guo, ZHU Shi-qiang, WANG Xuan-yin, WANG Hui-fang (State K ey Laboratory of F luid Power Transmission and Control, Z hej iang University, H angzhou 3 0027, China) Abstract:A smooth orientation planner for manipulators w as proposed to accomplish smooth orientation adjustment.Quaternion w as adopted to represent orientation instead of the traditional homogeneous ma- trix, and conversion of them w as deduced.The smooth orientation trajectory was generated by interpola- ting key orientations with the spherical spline quaternion interpolation method, and key joint positions were solved w ith the inverse kinematics algorithm according to discrete orientations sampled w ith specific positioning accuracy of the end-effect, and then smooth joint trajectories with stable start-stop motion and continuous jerk were obtained through interpolating key joint positions w ith B-spline of five degrees.Ex- perimental results showed that, the proposed orientation planner supplied manipulators w ith smooth ad- justment of orientation and stable movement of joints, as w ell as enhancement of trajectory tracking accu- racy, w hich made it an effective solution for the smooth orientation planning problem of manipulators. Keywords:manipulator;smooth orientation;quaternion;B-spline 　　 , .Zacharia [ ] , 、、 , , ,