کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4639081 1632034 2014 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Construction of low degree rational motions
ترجمه فارسی عنوان
ساخت حرکات منطقی درجه پایین
کلمات کلیدی
طراحی حرکت درونیابی هندسی، حرکات هوشمندانه ی اسپیلین، تداوم هندسی
موضوعات مرتبط
مهندسی و علوم پایه ریاضیات ریاضیات کاربردی
چکیده انگلیسی

Construction of rational spline motions is an important issue in robotics, animations and related fields. In this paper a geometric approach to interpolate given sequence of rigid body positions is considered, which, in contrast to standard approaches, is free of choosing parameter values in advance and it enables the lowest possible degree of the motion. A general solution to the problem how to interpolate 2n2n given positions by rational motion of degree 2n2n is presented and two particular cases, motions of degree six and eight, are studied in more detail. This interpolation scheme is further generalized to a method for constructing first order geometric continuous rational spline motions of degree six. Numerical examples are given which confirm the presented theoretical results.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of Computational and Applied Mathematics - Volume 256, 15 January 2014, Pages 92–103
نویسندگان
, , ,