A smooth orientation planner for manipulators based on quaternions and B-spline

DOI10.3785/J.ISSN.1008-973X.2009.07.004zbMATH Open1224.68184MaRDI QIDQ3072935FDOQ3072935

Authors: Songguo Liu, Shi-Qiang Zhu, Huifang Wang, Xuan-Yin Wang 

Publication date: 5 February 2011

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zbMATH Keywords

quaternionB-splinemanipulatorsmooth orientation

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

Cited In (2)

• Orientation planning in continuous path applications for wrist partitioned manipulators
• \(C^2\)-continuous orientation planning for robot end-effector with B-spline curve based on logarithmic quaternion

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