Smooth orientation planning has an important influence Drying Agents on the working quality and service life as for industrial robot.Based on the logarithmic quaternion, a compact method to map a spline curve from Cartesian space to quaternion space is proposed, and consequently the multi-orientation smooth interpolation of quaternion is realized.Combining with the relevant example case, the detailed method and steps of multi-orientation interpolation are introduced for mapping Hermite spline curve into quaternion space, and the validity of the principle is verified by using the example case.
The present multi-orientation smooth interpolation of quaternion has the characteristics of simple construction, easy implementation and intuitive understanding.The method is not only applicable to multi-orientation interpolation of quaternion with Hermite spline curve, but also can extended to 6 Piece Sectional with Chaise the spline curves such as Bezier spline and B-spline.