A cubic spline algorithm on the rotation group using cayley parameters

Proceedings of the ASME Design Engineering Technical Conference

Volumn 3, Issue , 1996, Pages

  Park, F C ^a   Kang, I G ^a  

^a Seoul National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION ALGORITHMS; COMPUTER AIDED DESIGN; GRAPH DATABASES; INTERPOLATION; ROTATION; TRAJECTORIES;

ANGULAR ACCELERATION; COMPUTATIONALLY EFFICIENT; CUBIC POLYNOMIALS; GIVEN ROTATIONS; MULTIPLE WINDINGS; ROTATION GROUP; ROTATION MATRICES; TRANSCENDENTAL FUNCTIONS;

SPLINES;

EID: 0040415376     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/96-DETC/DAC-1060     Document Type: Conference Paper

References (8)

1. Brunnett, G., and Crouch, P. 1994, "Elastic Curves on the Sphere, " Advances in Computational Mathematics, vol. 2, pp. 23-40.
2. Gantmacher, R., 1960, Matrix Theory (Vols. I-II), Chelsea Publishing Co., New York, N.Y.
3. Ge, Q. J., and Ravani, B., 1994, '(computer-Aided Design of Motion Interpolants, " Proc. ASME Deszgn Automation Conf, Vol. 2, pp. 33-41.
4. Mladenova, C., 1990, "A Contribution to the Modelling and Control of lvfanipulators, " J, Intelligent and Robotic Systems, Vol. 3, pp. 349-363.
5. Noakes, L., Heinzinger, B., and Paden, B., 1991, "Cubic Splines on Curved Spaces, " IMA J. Muthematica/ Control U Information, Vol. 6, pp. 465-473.
6. Park, F. C., and Ravani, B., 1995, "B6zier Curves on Riemannian Manifolds and Lie Groups with Kinematics Applications, " ASME J. Mechanical Design, Vol. 117, No. 1, pp. 36-40.
7. Park, F. C., and Ravani, B., 1995, "Cubic Splines on Rotations, " unpublished manuscript.
8. Zefran, M., and Kumar, V., 1995, "Optimal Kinematic Trajectories on SE(3) , " GRASP Laboratory Technical Report, Univ. of Pennsylvania.