𝔖 Bobbio Scriptorium
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The cubic algorithm

✍ Scribed by Efim A. Galperin


Publisher
Elsevier Science
Year
1985
Tongue
English
Weight
304 KB
Volume
112
Category
Article
ISSN
0022-247X

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This article presents a class of spline algorithms for generating orientation trajectories that approximately minimize angular acceleration. Each algorithm constructs a twice-di erentiable curve on the rotation group SO(3) that interpolates a given ordered set of rotation matrices at speciΓΏed knot t