Research Of The Orientation Planning And Interpolation For Industrial Robots Based On Quaternion

With the advent of the era of Industry 4.0,robots are moving in the direction of high speed and high precision.The orientation planning and interpolation for robots is one of the determinants for the smoothness and comprehensive performance.However,the existing research is not comprehensive.Meanwhile,the algorithm of constructing spline for posture is relatively complex,which is difficult to meet the real-time demands.Thus the construction of orientation curve,velocity planning as well as real-time interpolation are studied with quaternion.The common operation and characteristic of quaternion are expounded in detail.Then the curve of orientation is constructed based on quaternion,including the Slerp(Spherical Linear Interpolation)and the Bezier curve.The smoothness of each curve is verified by analyzing their angular velocity.The first and second derivatives at the transition point are deduced and verified,which proves the splicing curve satisfies the second order geometric continuity.With the construction of orientation curve,the angular displacement is calculated for each curve and the parameters are studied for the velocity planning.The angular displacement is applied as the unified planning parameter.Then an extensible velocity planning algorithm is proposed.Furthermore,the T-type velocity planning is explained to illustrate the velocity planning process and the synchronization between position and orientation.Finally,the pretreatment of spline and the dichotomy for positioning rapidly is researched.Then the real-time interpolation for the robot is realized.The proposed algorithm is implemented and applied on experimental platform consisting of Matlab,VMware and industrial robots.The results demonstrate the effectiveness and accuracy of the proposed method.