Dual Quaternion Quintic Blends: C2-Continuous, Time-Optimized Interpolation with Unit Dual Quaternion Pose Representation
Abstract
The manufacturing industry, driven by Industry 4.0, is experiencing a paradigm shift with the integration of collaborative robots (cobots). These cobots are essential for safe human-robot collaboration, requiring predictable trajectories in the task space. To address the complexity of interpolating key poses, this research introduces a novel C2-continuous interpolation scheme with unit dual quaternion pose representation. This scheme facilitates smooth, synchronized motion along a given set of key poses. Leveraging the algebraic efficiency and double cover property of unit dual quaternions, the proposed method provides improved computational efficiency and a user-friendly trajectory definition interface, which is particularly beneficial for non-expert users.
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| Titel | Dual Quaternion Quintic Blends: C2-Continuous, Time-Optimized Interpolation with Unit Dual Quaternion Pose Representation |
|---|---|
| Medien | Advances in Robot Kinematics 2024. ARK 2024. Springer Proceedings in Advanced Robotics |
| Verlag | Springer, Cham |
| Heft | --- |
| Band | 31 |
| ISBN | 978-3-031-64056-8 |
| Verfasser/Herausgeber | Jens Temminghoff, Prof. Dr.-Ing. Marcel Huptych, Jan Wiartalla, Markus Schmitz, Burkhard Corves, Mathias Hüsing |
| Seiten | 269–277 |
| Veröffentlichungsdatum | 2024-07-03 |
| Projekttitel | --- |
| Zitation | Temminghoff, Jens; Huptych, Marcel; Wiartalla, Jan; Schmitz, Markus; Corves, Burkhard; Hüsing, Mathias (2024): Dual Quaternion Quintic Blends: C2-Continuous, Time-Optimized Interpolation with Unit Dual Quaternion Pose Representation. Advances in Robot Kinematics 2024. ARK 2024. Springer Proceedings in Advanced Robotics 31, S. 269–277. DOI: 10.1007/978-3-031-64057-5_31 |