Rotation minimizing spherical motions. (English) Zbl 0940.70002

Jüttler, B.

Lenarčič, Jadran (ed.) et al., Advances in robot kinematics: analysis and control. 6th symposium, Strobl/Salzburg, Austria, June/July 1998. Dordrecht: Kluwer Academic Publishers. 413-422 (1998).

The author presents a detailed discussion of rotation minimizing frames of space curves within the framework of spherical kinematics. In addition, the author gives the 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.
For the entire collection see [Zbl 0903.00091].

Reviewer: G.Ciobanaşu (Iaşi)

MSC:

70B10	Kinematics of a rigid body
70B15	Kinematics of mechanisms and robots
53A05	Surfaces in Euclidean and related spaces

Keywords:

surface modeling; rotation minimizing frames of space curves; spherical kinematics; approximation by rational spline motions; automatic generation of robot motions from CAD data; sweeping surfaces