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《China Mechanical Engineering》 2016-20
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Research on Trajectory Planning of Industrial Robots with Double Quaternion

Li Hongsheng;Wang Yunhe;Huang Jiacai;Shi Xinxin;Nanjing Institute of Technology;  
For the curve smoothness and real-time requirements of industrial robot trajectories in cartesian space,the paper represented hyperspheres rotation quaternion of robot trajectory spherical linear interpolation,combined with the algorithm of sinusoidal acceleration curve lifting velocity to control the trajectory planning.It provides a new solution of position and pose planning.Finally,simulations were performed in six joints handling robot control system platform,then to prove the validity of the algorithm solution.
【Fund】: 江苏省科技支撑计划资助项目(BE2014025)
【CateGory Index】: TP242.2
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