Rotation-minimizing Euler-Rodrigues rigid-body motion interpolants

DOI10.1016/j.cagd.2013.03.001zbMath1286.65021MaRDI QIDQ2443064

Rida T. Farouki, Takis Sakkalis, Chang Yong Han, P. Dospra

Publication date: 4 April 2014

Published in: Computer Aided Geometric Design (Search for Journal in Brave)

Full work available at URL: https://escholarship.org/uc/item/7m71z9pw

zbMATH Keywords

interpolation; algorithm; quaternions; Pythagorean-hodograph curves; computer animation; Hopf map; rotation-minimizing frame; Euler-Rodrigues frame; spatial motion planning; geometric sweep operations; robot trajectory planning

Mathematics Subject Classification ID

70E15: Free motion of a rigid body

65D05: Numerical interpolation

70E60: Robot dynamics and control of rigid bodies

42C15: General harmonic expansions, frames

65D17: Computer-aided design (modeling of curves and surfaces)

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