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

摘要

Purpose - To realize the smooth interpolation of orientation on robot end-effector, this paper aims to propose a novel algorithm based on the unit quaternion spline curve. Design/methodology/approach - This algorithm combines the spherical linear quaternion interpolation and the cubic B-spline quaternion curve. With this method, a C2-continuous smooth trajectory of multiple teaching orientations is obtained. To achieve the visualization of quaternion curves on a unit sphere, a mapping algorithm between a unit quaternion and a point on the spherical surface is given based on the physical meaning of the unit quaternion. Findings - Finally, the curvature analysis of a practical case shows that the orientation trajectory (OT) constructed by this algorithm satisfied the C2-continuity. Originality/value - This OT satisfies the requirement of smooth interpolation among multiple orientations on robots in industrial applications.