Attitude Interpolation Algorithm for Industrial Robot Based on Quaternion Method

摘要

Abstract In order to achieve the smooth transition of the end-tool pose of the industrial robot, after determining the pose of the teaching points of the robot. Firstly, the path of the pose change between the adjacent teaching points is constructed by using the SLERP method, then, the position of the start and end points of the attitude transition curve is determined, and the expression of the attitude trajectory curve is obtained. According to the relation between the derivative of quaternion and Angular Velocity, the conversion between unit quaternion and angular velocity is realized by using Newton-Cortez formula. Finally, the velocity of the fitted industrial robot’s tool’s attitude trajectory is planned, and the whole attitude trajectory is interpolated.