As you probably know, KRL uses Euler angles to represent orientations and rotations. I wish to do a linear interpolation between two rotations.
However, I run into many problems related to direct linear interpolation (lambda * a.angle + (1-lambda) * b.angle) of Euler angles. Problems include wrapping around +/- 180 degrees, interpolation not giving the shortest path between two orientations, etc.
Has someone solved linear interpolation between Kuka Euler angles in a nice fashion?
I am thinking about converting the Euler angles to quaternions, where linear interpolation is beautiful and simple with no issues. However, the conversion itself is not so beautiful, and I need to be careful with the coordinate systems. Has anyone done the conversion from a KRL Frame to quaternions for orientation / rotation before?
Thanks!