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A high-precision trajectory capture and playback solver for KUKA iiwa robot

Published online by Cambridge University Press:  10 December 2024

Zhuoran Liu ,
Jiahang Yang ,
Ashraf Fahmy  and
Chunxu Li Open the ORCID record for Chunxu Li [Opens in a new window]
Zhuoran Liu
Affiliation:
College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China
Jiahang Yang
Affiliation:
College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China
Ashraf Fahmy
Affiliation:
Department of Mechanical Engineering, Faculty of Science and Engineering, Swansea University, Swansea, UK
Chunxu Li*
Affiliation:
Department of Mechanical Engineering, Faculty of Science and Engineering, Swansea University, Swansea, UK
*
Corresponding author: Chunxu Li; Email: [email protected]
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Abstract

This paper introduces a sophisticated trajectory capture and playback mechanism for collaborative robots, aimed at enhancing accuracy and operational efficiency through several innovative techniques. The Ju-Gibbs attitude quaternion is utilized for enhanced kinematic modeling across multi-axis systems, which simplifies variables, reduces dimensions, and enhances symbolic clarity, thus surpassing the limitations of traditional rotation vectors and unit quaternions. A new sliding filter is developed to effectively reduce noise and optimize trajectory details more efficiently. Additionally, an automated mechanism is implemented for adjusting the sampling rate and removing static data points at the trajectory’s start and end, further refining data collection accuracy. These advancements have been successfully replicated on the Kuka robot LBR iiwa 7 R800, demonstrating the practical applicability of the solutions in real-world settings.

Keywords

Collaborative robotsKUKA iiwatrajectory capturetrajectory playbackJu-Gibbs quaternionsliding filterROS
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3904 - 3917
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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