基于四元数的机械臂平滑姿态规划与仿真

Smooth Orientation Planning and Simulation of Manipulator Based on Quaternion

姿态迹规划在机械臂控制中占有重要的地位,插值姿态的平滑性将直接影响到机械臂末端动作的柔和度。对姿态规划的等效性进行研究,给出角加速度与角速度可控的转角规划曲线。为减小计算复杂度,采用四元数代替姿态矩阵描述末端姿态。此外,还研究了等效转角与四元数球面线性插值的关系。最后,针对自行研制的六轴机械臂模型,以LabVIEW为仿真平台,对姿态轨迹进行了仿真与讨论。仿真结果表明:所规划的姿态具有C2连续的特点,实现了平滑变化。

Orientation trajectory planning plays an important role in manipulator controlling and the smoothness of interpolation orientation will directly affect the action softness of end in manipulator. In this paper,the equivalence of orientation planning was studied and rotation angular planning curve was given with controllable angular acceleration and angular velocity. In order to reduce computational complexity,the end orientation was described in quaternion instead of orientation matrix. Else,the relationship of equivalent angular and spherical linear quaternion interpolation( Slerp) was studied. In the end,for self-developed six-axis manipulator module,the orientation planning method was simulated and discussed with simulation platform Lab VIEW. As showed by simulation results,the planned orientations have C2-continuous characteristic while changes smoothly.