Track smooth interpolation method for seven-dimensional pose fusion

By using a trajectory smoothing interpolation method based on seven-dimensional pose fusion, the inconsistency caused by the separation of position trajectory and attitude trajectory in robot trajectory planning is solved, realizing the synchronous coordination of position and attitude, improving the continuity and stability of the trajectory, and making it suitable for automated operations such as welding, spraying, and grinding.

CN122408772APending Publication Date: 2026-07-17WUHAN INST OF TECH
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Patent Information

Application Number
CN202610510720.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-17
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

In the existing technology, the separate processing of position trajectory and attitude trajectory in robot trajectory planning leads to inconsistencies between position changes and attitude changes of the actuator in the turning segment, transition segment, and the start and end stages, causing the attitude continuity to be disrupted and affecting the trajectory tracking accuracy and motion stability.

Method used

A trajectory smoothing interpolation method based on seven-dimensional pose fusion is adopted. By uniformly modeling discrete pose points and combining cubic B-spline node vectors and seven-dimensional tangent boundary conditions, a tridiagonal linear equation system is constructed to achieve synchronous interpolation processing of three-dimensional position coordinates and quaternion pose components.

Benefits of technology

It improves the coordination and continuity between position trajectory and attitude trajectory, reduces position and pose disconnection, avoids local attitude jumps, and improves trajectory tracking accuracy and motion stability. It is suitable for automated operation scenarios with high requirements for continuous position and pose control, such as welding, spraying, and grinding.

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Abstract

The invention relates to the field of trajectory planning and motion control, and discloses a smooth trajectory interpolation method for seven-dimensional pose fusion. The invention discloses a smooth trajectory interpolation method based on seven-dimensional pose fusion, and relates to the technical field of trajectory planning and motion control. The method comprises the following steps: acquiring a plurality of discrete pose points, wherein each discrete pose point comprises a three-dimensional position coordinate and a quaternion pose component; unitization processing and adjacent quaternion equidirectivity correction are carried out on the quaternion attitude component; respectively calculating a position distance and an attitude distance between adjacent discrete pose points, and carrying out normalized weighted fusion to obtain a comprehensive distance; parameterization is completed based on the comprehensive distance, and a cubic B-spline node vector is constructed; constructing a starting seven-dimensional tangent vector and a terminating seven-dimensional tangent vector according to endpoint process requirements; constructing a three-diagonal linear equation set based on node vectors, discrete pose points and seven-dimensional tangent vector boundary conditions, and solving seven-dimensional control vertexes;
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