Two moving coordinate frames for sweeping along a 3D trajectory (Q1094856)

The author notes that using the Frenet frame for sweeping a polygon along a curve in three space is time consuming. He therefore proposes to use a ``minimal rotation'' frame composed of tangent vector T and two orthogonal vectors F, G perpendicular to T satisfying equations \(F'=aT\), \(G'=bT\). His computing time was thereby reduced from 40 minutes to 10-20 seconds on a VAX. The new frame will not return to its original position after running along a closed curve, hence it will not reduce closed solids. The author's frame was studied by \textit{R. L. Bishop} [Am. Math. Mon. 82, 246-251 (1975; Zbl 0298.53001)]. In reality, it takes no time at all to compute the Frenet frame if the space curve is given as r(t). Then \(T=r'/| r'|\), \(B=r'\times r''/| r'\times r''|\), \(N=T\times B\). The author's frame is obtained from the Frenet frame by a rotation in the (N,B) plane by cos \(\theta\), \(\theta =\int \tau | r'| dt.\) In fact, any frame containing T can be obtained by some rotation from the Frenet frame and differential equations are never needed [cf. the reviewer, Differential geometry (1963; Zbl 0116.134), Exercise 8-1 {\#}23].