Steering Control Algorithm of an Up and Down Motion Robot Using a Quaternion with Spherical Cubic Interpolation

쿼터니언의 Spherical Cubic Interpolation 을 이용한 상하이송 로봇의 조향 방법에 관한 연구

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$