Interpolating Industrial Robot Orientation with Hermite Spline Curve Based on Logarithmic Quaternion
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 inte...
| Format: | Article |
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| Language: | zho |
| Published: |
EDP Sciences
2019-12-01
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| Series: | Xibei Gongye Daxue Xuebao |
| Subjects: | |
| Online Access: | https://www.jnwpu.org/articles/jnwpu/full_html/2019/06/jnwpu2019376p1165/jnwpu2019376p1165.html |