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Rational Interpolation of Rigid-Body Motions

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Book cover Advances in the Theory of Control, Signals and Systems with Physical Modeling

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 407))

Abstract

Let g 1, g 2,...,g n be a sequence of elements of a Lie group, (knot points). Our problem is to find a smooth, parameterised curve in the group that passes through these elements at parameter values t 1, t 2,...,t n . There are many variations on this basic problem. For example we could take account of velocities. Perhaps we might only require the curve to be near the knot points.

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References

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Author information

Authors and Affiliations

  1. Faculty of Business, Computing and Information Management, London South Bank University, U.K.

    J. M. Selig

Authors
  1. J. M. Selig
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Editor information

Editors and Affiliations

  1. CAS, Unité Mathématiques et Systémes, MINES-ParisTech, 35, rue Saint-Honoré, 77300, Fontainebleau, France

    Jean Lévine

  2. Laboratoire d’ Automatique, Faculté des Sciences de l’Ingénieur Station 9, CH-1015, Lausanne, Switzerland

    Philippe Müllhaupt

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Selig, J.M. (2010). Rational Interpolation of Rigid-Body Motions. In: Lévine, J., Müllhaupt, P. (eds) Advances in the Theory of Control, Signals and Systems with Physical Modeling. Lecture Notes in Control and Information Sciences, vol 407. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16135-3_18

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  • DOI: https://doi.org/10.1007/978-3-642-16135-3_18

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16134-6

  • Online ISBN: 978-3-642-16135-3

  • eBook Packages: EngineeringEngineering (R0)

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