Hermite interpolation by rational GK motions of low degree

@article{Jaklic2013HermiteIB,
  title={Hermite interpolation by rational GK motions of low degree},
  author={Gasper Jaklic and Bert J{\"u}ttler and Marjeta Krajnc and Vito Vitrih and Emil Zagar},
  journal={J. Computational Applied Mathematics},
  year={2013},
  volume={240},
  pages={20-30}
}
Interpolation by rational spline motions is an important issue in robotics and related fields. In this paper a new approach to rational spline motion design is described by using techniques of geometric interpolation. This enables us to reduce the discrepancy in the number of degrees of freedom of the trajectory of the origin and of the rotational part of the motion. A general approach to geometric interpolation by rational spline motions is presented and two particularly important cases are… CONTINUE READING