Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on Orientations Interpolation of 6-Axis Articulated Robot using Quaternion

쿼터니언을 이용한 6축 로봇 방위보간법에 관한 연구

  • 안진수 (창원대학교 기계설계공학과 대학원) ;
  • 정원지 (창원대학교 기계설계공학과)
  • Received : 2011.02.07
  • Accepted : 2011.08.22
  • Published : 2011.12.15
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Abstract

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

Keywords

References

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