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A Study on the Control for an Outer-hull Preprocessing Robot Using a Quaternion  

Chung, Won-Jee (국립창원대학교 메카트로닉스 공학부)
Kim, Ki-Jung (STX조선(주) 생산기술연구팀)
Kim, Sung-Hyun (국립 창원대학교 기계설계공학과 대학원)
Lee, Choon-Man (국립창원대학교 메카트로닉스 공학부)
Shin, Ki-Su ((주)로봇밸리)
Lee, Ki-Sang ((주)로봇밸리)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.15, no.6, 2006 , pp. 1-7 More about this Journal
Abstract
This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. 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 $MATLAB^{\circledR}$ and $VisualNastran4D^{\circledR}$.
Keywords
Quaternion; Spherical Linear Interpolation; Euler Angle; Feathering; Out-hull Preprocessing Robot; Singularity; Closed Form Solution;
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