Interpolation of spatial rotations for multibody kinematics and dynamics

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F21%3A43962087" target="_blank" >RIV/49777513:23520/21:43962087 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Interpolation of spatial rotations for multibody kinematics and dynamics
Original language description
This paper deals with the interpolation of spatial rotations of a body in space for the purpose of multibody kinematics and dynamics. The most important methods of spatial rotation parametrization are summarized at first (e.g. Euler angles, Bryant angles, Euler parameters, quaternion representation). The main contribution of this paper is the usage of look up tables of a body configuration in 3D for the purpose of rotation interpolation with the advantage of computational costs reduction. Particularly, the spline interpolation is introduced and its special form of B-spline is explained. Final part of the paper deals with quaternion B-spline interpolation, whose advantage is the Cn continuity of interpolated data. In this paper C2 continuity was achieved.
Czech name
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Czech description
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Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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