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- W2372807776 abstract "A smooth orientation planner for manipulators was proposed to accomplish smooth orientation adjustment.Quaternion was adopted to represent orientation instead of the traditional homogeneous matrix,and conversion of them was deduced.The smooth orientation trajectory was generated by interpolating key orientations with the spherical spline quaternion interpolation method,and key joint positions were solved with the inverse kinematics algorithm according to discrete orientations sampled with specific positioning accuracy of the end-effect,and then smooth joint trajectories with stable start-stop motion and continuous jerk were obtained through interpolating key joint positions with B-spline of five degrees.Experimental results showed that,the proposed orientation planner supplied manipulators with smooth adjustment of orientation and stable movement of joints,as well as enhancement of trajectory tracking accuracy,which made it an effective solution for the smooth orientation planning problem of manipulators." @default.
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- W2372807776 date "2009-01-01" @default.
- W2372807776 modified "2023-09-28" @default.
- W2372807776 title "Smooth orientation planner for manipulators based on quaternion and B-spline" @default.
- W2372807776 hasPublicationYear "2009" @default.
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