A seven-dimensional pose fusion trajectory smoothing interpolation method
By using a trajectory smoothing interpolation method based on seven-dimensional pose fusion, the problem of attitude continuity caused by the separation of position trajectory and attitude trajectory in robot trajectory planning is solved, and the synchronous smoothing of position trajectory and attitude trajectory is achieved, thereby improving the stability and accuracy of robot motion.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- WUHAN INST OF TECH
- Filing Date
- 2026-04-17
- Publication Date
- 2026-07-17
AI Technical Summary
In existing technologies, the separation of position trajectory and attitude trajectory in robot trajectory planning disrupts attitude continuity, affecting trajectory tracking accuracy and motion stability.
A trajectory smoothing interpolation method based on seven-dimensional pose fusion is adopted. By uniformly modeling discrete pose points, joint interpolation processing of three-dimensional position coordinates and quaternion pose components is performed. Cubic B-spline node vectors and seven-dimensional tangent boundary conditions are constructed. The seven-dimensional control vertices are solved using a tridiagonal linear equation system to generate continuous interpolated pose points.
It achieves synchronized and smooth position trajectory and attitude trajectory, reduces position and pose disconnection, avoids local attitude jumps, and improves the motion stability and operation accuracy of the end effector.
Smart Images
Figure CN122408772A_ABST