Attitude interpolation of B-spline curve based on modified Rodrigues parameters

To improve the continuity of robot’s attitude interpolation, a method is proposed to swiftly create a seamless quaternion spline curve by mapping a quaternion rotation space to a three-dimensional(3D) space spline interpolation curve using modified Rodrigues parameters. Initially, a function based o...

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Bibliographic Details
Main Authors: Kai Zhang, Yuantian Qin, Zhehang Yin, Vadim Silberschmidt
Format: Default Conference proceeding
Published: 2024
Subjects:
Attitude interpolation
Quaternion
Quaternion spline curve
B-spline curve
Modified Rodrigues parameter
Online Access:https://hdl.handle.net/2134/28136996.v1
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