Grassmann, Reinhard and Burgner-Kahrs, Jessica
IEEE-RAS International Conference on Humanoid Robots, 2019
Publication year: 2019

Abstract
Smooth orientation interpolation has a great effect on the performance of robot manipulators and humanoid robots. Generating a suitable trajectory between several orientations, while complying with the requirement of smoothness and kinematic limits such as maximum angular velocity and maximum angular acceleration, is desirable. To achieve this, a smooth trapezoidal-like velocity profile with polynomial blends and unit quaternions is used. In this late breaking report we compare a recent approach for humanoid robots with our singularity-free trajectory generator for multiple orientations in SO(3) by using the same orientations. The result shows that our approach respects the given kinematic limits and generates smooth orientation.