A practical algorithm for smooth interpolation between different angular positions. (August 2021)

• Record Type: Journal Article
• Authors: Legnani, Giovanni; Fassi, Irene; Tasora, Alessandro; Fusai, Dario
• Is Part Of: Mechanism and machine theory. Volume 162(2021)
• Publication Date: 2021-08
• Subjects: Smooth rotation interpolation -- Angular trajectory -- Rotations -- Quaternions; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2021.104341
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: Smooth and efficient interpolation between different angular poses. Singularity-free rotation interpolation algorithm. C 2 angular motion generation. Abstract: This paper proposes a new methodology for the interpolation of a given set of 3D rotation poses that have to be reached in successive times by preserving continuity in orientation, angular velocity and angular acceleration. The discussed algorithm ensures the generation of smooth angular trajectories without singularities. The distinctive features of the proposed approach are the straightforward formulation, the reduced computational burden and the lack of iterative procedures. The presented methodology has applications in the generation of spatial motion of mechanical systems (e.g. robotics, flying devices) or in 3D computer graphics. After a theoretical introduction, the proposed algorithm is compared with other methods available in literature and some possible applications are presented.