Motion design with Euler-Rodrigues frames of quintic Pythagorean-hodograph curves (Q1761629)
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English | Motion design with Euler-Rodrigues frames of quintic Pythagorean-hodograph curves |
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Motion design with Euler-Rodrigues frames of quintic Pythagorean-hodograph curves (English)
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15 November 2012
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A method for computing rational motions of a rigid body is presented. The method is based on the construction of spatial quintic Pythagorean-hodograph (PH) spline curves interpolating \(G^1\) Hermite motion data, i.e. initial/final points and rotations at the given points. The orientation of the rigid body coincides with the Euler-Rodrigues frame. The Euler-Rodriques frame is rational by construction and always non-singular at inflection points. The resulted PH curve is expressed with three free parameters used to control the length of the curve (or to provide a \(C^1\) interpolant) and to guarantee that the Euler-Rodrigues frame is as close as possible to the corresponding rotation minimizing frame. The presented method can be applied in computer animation, robot manipulation, construction of a smooth camera motion, spatial path planning in manufacturing and in many other areas where the motion of a rigid body along curved paths is considered.
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Euler-Rodrigues frame
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rotation minimizing frame
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spline interpolation
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Hermite interpolation
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motion design
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quaternions
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rational motions of a rigid body
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spatial quintic Pythagorean-hodograph spline curves
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computer animation
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robot manipulation
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camera motion
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path planning
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