Abstract
In geometric design, rotation minimizing frames of space curves are used for sweep surface modeling. We give a detailed discussion of these motions within the framework of spherical kinematics. In addition we discuss their approximation by rational spline motions. The results are applied to the automatic generation of robot motions from CAD data and to the construction of sweeping surfaces.
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© 1998 Springer Science+Business Media Dordrecht
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Jüttler, B. (1998). Rotation Minimizing Spherical Motions. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_42
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DOI: https://doi.org/10.1007/978-94-015-9064-8_42
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
Online ISBN: 978-94-015-9064-8
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