한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2005년도 춘계학술대회 논문집
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- Pages.1832-1835
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- 2005
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- 2005-8446(pISSN)
쿼터니언의 Spherical Cubic Interpolation 을 이용한 상하이송 로봇의 조향 방법에 관한 연구
Steering Control Algorithm of an Up and Down Motion Robot Using a Quaternion with Spherical Cubic Interpolation
- 정원지 (창원대) ;
- 김기정 (창원대 기계설계공학과) ;
- 김성현 (창원대 기계설계공학과) ;
- 김효곤 (창원대 기계설계공학과) ;
- 서영교 (두산메카텍(주)) ;
- 이기상 (두산메카텍(주))
- Chung W.J. (Mechatronics Dept., CNU) ;
- Kim K.J. (Mech. De. & Manu. Dept., CNU) ;
- Kim S.H. (Mech. De. & Manu. Dept., CNU) ;
- Kim H.G. (Mech. De. & Manu. Dept., CNU) ;
- Seo Y.K. (DOOSAN Mecatec Co.) ;
- Lee K.S. (DOOSAN Mecatec Co.)
- 발행 : 2005.06.01
초록
This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using
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