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

DOI10.3785/J.ISSN.1008-973X.2009.07.004MaRDI QIDQ3072935zbMATH OpenFDO

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

Publication date 5 February 2011

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)

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(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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