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2020 | OriginalPaper | Chapter

9. Rigid Motion Interpolation

Author : Eduardo Bayro-Corrochano

Published in: Geometric Algebra Applications Vol. II

Publisher: Springer International Publishing

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Abstract

This chapter presents the motor interpolation, and it is based on our previous works [1, 2]. We will use this technique when we interpolate geometric objects like points, lines, planes, circles, and spheres.

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Ureña-Ponce, O., Soria-García, G., Martínez-Terán, G., Ortega-Cisneros, S., & Bayro-Corrochano, E. (2019). Accelerating interpolation in conformal geometric algebra using GPU. Journal of Advances on Applications of Clifford Algebra.

Bayro-Corrochano, E., Garza-Burgos, A. M., & Del Valle-Padilla, J. L. (2019). Geometric intuitive techniques for human machine interaction in medical robotics. Journal of Social Robotics.

Etzel, K. R., & McCarthy, J. M. (1996). Spatial motion interpolation in an image space of so(4). In Proceedings of The 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference.

Kavan, L., Collins, S., Zara, J., & O’Sullivan, C. (2006). Geometric skinning with approximate dual quaternion blending. Technical Report TCD-CS-2006-46, The University of Dublin, Trinity College.

J\(\ddot{{\rm u}}\)ttler, B. (1994). Visualization of moving objects using the dual quaternion curves. Computer and Graphics, 18(3), 315–326.

Gfrerrer, A. (2010). Study’s kinematic mapping—A tool for motion design. In Advances in robot kinematics (pp. 7–16). Springer.

Klawitter, D., (2010). Documentation-Kinematic Toolbox. Technische Universit\(\ddot{\text{a}}\)t Dresden.

Prautzsch, H., Boehm, W., & Paluszny, M. (2013). Bézier and B-spline techniques. Springer Science & Business Media.

Bayro-Corrochano, E. (2010). Geometric computing for wavelet transforms, robot vision, learning, control and action. London: Springer-Verlag.

Title: Rigid Motion Interpolation
Author: Eduardo Bayro-Corrochano
Publisher: Springer International Publishing
Book: Geometric Algebra Applications Vol. II
Print ISBN: 978-3-030-34976-9

Electronic ISBN: 978-3-030-34978-3

Copyright Year: 2020
DOI: https://doi.org/10.1007/978-3-030-34978-3_9

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