基于对数四元数的工业机器人Hermite样条曲线姿态插值

Smooth orientation planning has an important influence on the working quality and service life as for industrial robot. Based on the logarithmic quaternion, a compact method to map a spline curve from Cartesian space to quaternion space is proposed, and consequently the multi-orientation smooth interpolation of quaternion is realized. Combining with the relevant example case, the detailed method and steps of multi-orientation interpolation are introduced for mapping Hermite spline curve into quaternion space, and the validity of the principle is verified by using the example case. The present multi-orientation smooth interpolation of quaternion has the characteristics of simple construction, easy implementation and intuitive understanding. The method is not only applicable to multi-orientation interpolation of quaternion with Hermite spline curve, but also can extended to the spline curves such as Bezier spline and B-spline.