Steering Control Algorithm of an Inter-block Locomotion Robot Using a Quaternion with Spherical Cubic Interpolation

摘要

This paper presents the steering control algorithm of an inter-block locomotion robot using a quaternion for an assembly line in shipbuilding industries. An inter-block arc-welding process should be performed by OLP (Off-Line Programming) in shipbuilding. The inter-block locomotion robot is to be moved on an irregular ship floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every inter-block in order to adjust the misaligned values of current orientation to those commanded values from OLP. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using MATLAB~R And VisualNastran4D~R.