Abstract
We present two algorithms for the interpolation of given positions of a moving body by a smooth and fair motion, such that chosen feature points of the moving system run on smooth and fair paths. We outline algorithms which rely on known interpolatory variational subdivision for curves and on registration techniques from Computer Vision. For the numerical solution of the arising optimization problems we propose a geometric method which is based on instantaneous kinematics.
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© 2002 Springer Science+Business Media Dordrecht
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Hofer, M., Pottmann, H., Ravani, B. (2002). Subdivision Algorithms for Motion Design Based on Homologous Points. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_25
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DOI: https://doi.org/10.1007/978-94-017-0657-5_25
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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