The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process
2021 13th International Conference on Computer and Automation Engineering (ICCAE)(2021)
摘要
Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make u...
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关键词
Interpolation,Visualization,Automation,Quaternions,Computational modeling,Robot control,Process control
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