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Research on Attitude Interpolation and Tracking Control Based on Improved Orientation Vector SLERP Method

Published online by Cambridge University Press:  02 July 2019

Mingjie Dong Open the ORCID record for Mingjie Dong [Opens in a new window] ,
Guodong Yao ,
Jianfeng Li  and
Leiyu Zhang
Mingjie Dong
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, People’sRepublic of China. E-mails: dongmj@bjut.edu.cn; zhangleiyu@bjut.edu.cn
Guodong Yao
Affiliation:
Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, People’sRepublic of China. E-mail: jellyyao@126.com
Jianfeng Li*
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, People’sRepublic of China. E-mails: dongmj@bjut.edu.cn; zhangleiyu@bjut.edu.cn
Leiyu Zhang
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, People’sRepublic of China. E-mails: dongmj@bjut.edu.cn; zhangleiyu@bjut.edu.cn
*
*Corresponding author. E-mail: lijianfeng@bjut.edu.cn
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Summary

In order to make the end of the three-axis platform follow the control command and achieve stable control of the end attitude, an improved orientation vector spherical linear interpolation (SLERP) method is proposed for the requirements, which specifically handles the position of the gimbal lock, so that the platform can move smoothly around the gimbal lock position. A three-axis platform with a camera at the end is set up for the validity of the proposed algorithm. At first, an adaptive speed measurement method based on incremental encoder is introduced, which can automatically adapt to high and low speed, and estimate the ultra-low speed to realize the speed measurement of large dynamic range, and this is used for the motion control of the three-axis platform. Then, the SLERP method for the quaternion interpolation on the starting and ending attitudes represented in quaternion is introduced in detail, and it is continuously improved in response to its existing problems for the platform. Finally, an orientation vector SLERP method is proposed, which uses viscosity factor and rejection factor to adjust the algorithm near the platform’s gimbal lock position. A tracking experiment was designed using the red ball as the following target detected by the designed target tracking algorithm using the camera, which verified the effectiveness of the attitude tracking control based on the proposed improved orientation vector SLERP.

Keywords

Improved SLERPGimbal lockAdaptive speed measurementMotion controlAttitude tracking
Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020 , pp. 719 - 731
Copyright
© Cambridge University Press 2019 

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