Dual Quaternion Based Motion Planning via B-Spline Approach
Date Issued
2015
Date
2015
Author(s)
Ho, Cheng-Chang
Abstract
The inclusion of anthropomorphic features in robots has become so commonplace that robots are now expected to behave like human beings. This study presents a motion planner based on dual quaternion with the import of exponential and logarithmic maps of the quaternion for space conversion in order to describe the attitude of the end-effector in a three-dimensional Euclidean space. Trajectory curves are planned for the position and attitude of the end-effector using the segmental cubic B-spline approach in order to provide unified treatment of smoothed trajectories of position as well as attitude. For trajectory tracking, we developed a dual-quaternion-based tracking control architecture based on a fuzzy PID controller. The PID parameters are dynamically adjustable using a fuzzy rule database, which was designed to handle complex trajectory tracking control problems. Finally, the proposed method was applied to a self-designed dual arm robot-I (DAR-I) through two tea-pouring experiments to evaluate the effects of treating of position and attitude in a unified manner. Our simulation results demonstrated better performance compared with those of other methods.
Subjects
Trajectory planning
Motion planner
Quaternion
Dual quaternion
B-spline curve
Dual arm robot
Type
thesis
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