Path Planning of Robot Manipulator with Quaternion.

概要

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This paper deals with path planning of robot manipulater using spline method and quaternion. Calculations of trajectory and orientation are done independently. In calculating the trajectory, some regions are appointed instead of some points which the endeffector goes through. The trajectory under consideration includes a part of straight line. A curve of the trajectory is assumed as linear term and Fourier series. On the boundary of the curve and straight line, the first derivative of function characterizing the curve has the same value of slope of the straight line. Fourier coefficients are obtained by linear programming so that value of cost function is minimal under those conditions. The pose of the endeffector on the trajectory is calculated by using quaternion. The poses of some points are given by Euler angles; roll, pitch, yaw. Euler angles are converted to quaternions. The poses of other points on the trajectory are obtained by interpolating the given quaternions, using Bezier interpolation method. An example is shown by using skeleton model of robot manipulater.
公益社団法人計測自動制御学会の論文