1997/07/01 by F. C. Park, Bahram Ravani · 1 citation
Engineering · Computer Science · #Advanced Numerical Analysis Techniques #Robotic Mechanisms and Dynamics #Advanced Vision and Imaging
paper · pdf · doi:10.1145/256157.256160
openalex publication_date 1997/07/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
We present an algorithm for generating a twice-differentiable curve on the rotation group SO(3) that interpolated a given ordered set of rotation matrices at their specified knot times. In our approach we regard SO(3) as a Lie group with a bi-invariant Riemannian metriac, and apply the coordinate-invariant methods of Riemannian geometry. The resulting rotation curve is easy to compute, invariant with respect to fixed and moving reference frames, and also approximately minimizes angular acceleration.