Research on Manipulator Attitude Planning and Transition Algorithm Based on Cardinal Spline

Aiming at the problem of the SLERP(Spherical linear interpolation) interpolation algorithm at the end of the manipulator that the multi-posture point interpolation is discontinuous and the angular velocity of the posture movement is abrupt, the smooth interpolation based on the Cardinal spline is studied. With the help of Hopf mapping theory, the quaternion vector is converted into a three-dimensional interpolation vector and expressed in spherical coordinates. It can be proposed that the algorithm based on Cardinal spline to interpolate multi-posture points is feasible and effective. The research results of the thesis show that the quaternion interpolation algorithm based on Cardinal spline can achieve smooth interpolation transition between multi-posture points, and the shape factor of the spline curve can flexibly adjust the shape of the interpolation curve. The algorithm improves the diversity of interpolation schemes, and it is more suitable for quaternion interpolation between multiple orientations.