realization of orientation interpolation of 6-axis articulated robot using quaternion
来源期刊：中南大学学报(英文版)2012年第12期
论文作者：AHN Jin-su CHUNG Won-jee JUNG Chang-doo
文章页码：3407 - 3414
Key words：quaternion; spherical linear interpolation (SLERP); euler angle; linear euler interpolation; 6-axis articulated robot
Abstract: In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point (so-called Gimbal Lock). However, quaternion interpolation has the advantage of natural (specifically smooth) orientation interpolation without Gimbal Lock. This work presents the application of quaternion interpolation, specifically Spherical Linear IntERPolation (SLERP), to the orientation control of the 6-axis articulated robot (RS2) using LabVIEW® and RecurDyn®. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement (profile) of joint angles (torques), the two methods are dynamically simulated on RS2 by using both LabVIEW® and RecurDyn®. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW® motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional (linear) Euler interpolation.
AHN Jin-su, CHUNG Won-jee, JUNG Chang-doo
(School of Mechatronics, Changwon National University, Changwon 641-773, Korea)
Abstract:In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point (so-called Gimbal Lock). However, quaternion interpolation has the advantage of natural (specifically smooth) orientation interpolation without Gimbal Lock. This work presents the application of quaternion interpolation, specifically Spherical Linear IntERPolation (SLERP), to the orientation control of the 6-axis articulated robot (RS2) using LabVIEW® and RecurDyn®. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement (profile) of joint angles (torques), the two methods are dynamically simulated on RS2 by using both LabVIEW® and RecurDyn®. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW® motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional (linear) Euler interpolation.
Key words:quaternion; spherical linear interpolation (SLERP); euler angle; linear euler interpolation; 6-axis articulated robot
