Trajectory planning of robot manipulators based on unit quaternion | IEEE Conference Publication | IEEE Xplore

Trajectory planning of robot manipulators based on unit quaternion


Abstract:

Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufactur...Show More

Abstract:

Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufacturing industry. In this paper, a trajectory planning method based on unit quaternion was proposed. Unit quaternions were used to represent the orientations of the target as there are no more singularities. The trajectory was planning in Cartesian space using Paul's method and the orientations were intermediated using spherical linear interpolation. Experiments on PUMA 560, the analytical inverse kinematics solutions were figured out to generate the joint trajectory for the execution phase. A virtual simulation platform was built up to verify and illustrate the trajectory planning algorithm. The data of target can be updated with time which is meaningful to the visual servo system.
Date of Conference: 03-07 July 2017
Date Added to IEEE Xplore: 24 August 2017
ISBN Information:
Electronic ISSN: 2159-6255
Conference Location: Munich, Germany

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