Motion interpolation via screw axis representation of a finite displacement.

摘要

Motion interpolation has applications in robot motion planning and in animation of three dimensional objects. This work contributes to the area of motion interpolation with an investigation into the construction of a motion interpolant based on screw theory, computer aide geometric design (CAGD) and line geometry. A representation for a finite screw displacement in Euclidean three space presented that would allow specification of a finite displacement in an elegant manner and suitable for computational purposes. Then, methods are introduced for the construction of motion interpolant by approximating a set of control positions. The methods presented are general and allow utilization of different basis functions for the construction of motion interpolant such as Bezier, Cardinal and B-spline bases. Once a motion interpolant is designed, then a representation is introduced that would make motion specification independent of coordinate frames.