쿼터니언을 이용한 선체 외판 전처리 로봇 제어에 관한 연구

This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both MATLAB<SUP>？</SUP> and VisualNastran4D<SUP>？</SUP>.