In this work we propose a scheme for defining a rational curve in the space, with an associated rational rotation–minimizing directed frame. These curves are useful, for instance, when we want to describe the motion of a rigid body having a main axis pointing always to a fixed point and they can be employed in many interesting applications like camera motion control and medical endoscopy. The construction entails interpolation of initial/final curve positions and directions, together with the associated end frame orientations. The effectiveness of the method is illustrated by some examples.
Sampoli, M.L., Sestini, A. (2012). Rational rotation–minimizing polar oriented rigid body motions. In Raad 2012 proceedings. 21st Int. Workshop on Robotics in Alpe-Adria-Danube Region. (pp.284-291). Edizioni Scientifiche ed Artistiche.
Rational rotation–minimizing polar oriented rigid body motions
SAMPOLI, MARIA LUCIA;
2012-01-01
Abstract
In this work we propose a scheme for defining a rational curve in the space, with an associated rational rotation–minimizing directed frame. These curves are useful, for instance, when we want to describe the motion of a rigid body having a main axis pointing always to a fixed point and they can be employed in many interesting applications like camera motion control and medical endoscopy. The construction entails interpolation of initial/final curve positions and directions, together with the associated end frame orientations. The effectiveness of the method is illustrated by some examples.File | Dimensione | Formato | |
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https://hdl.handle.net/11365/37861
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