Affiliation:
1. Department of Mechanical Engineering, State University of New York at Stony Brook, Stony Brook, New York 11794-2300
Abstract
This paper presents two algorithms for fine-tuning rational B-spline motions suitable for Computer Aided Design. The problem of fine-tuning of rational motions is studied as that of fine-tuning rational curves in a projective dual three-space, called the image curves. The path-smoothing algorithm automatically detects and smoothes out the third order geometric discontinuities in the path of a cubic rational B-spline image curve. The speed-smoothing algorithm uses a quintic rational spline image curve to obtain a second-order geometric approximation of the path of a cubic rational B-spline image curve while allowing specification of the speed and the rate of change of speed at the key points to obtain a near constant kinetic energy parameterization. The results have applications in Cartesian trajectory planning in robotics, spatial navigation in visualization and virtual reality systems, as well as mechanical system simulation.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
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