Smooth Interpolation of Orientation by Rolling and Wrapping for Robot Motion Planning

Shen, Yueshi; Hueper, Knut; Leite, F Silva

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Smooth Interpolation of Orientation by Rolling and Wrapping for Robot Motion Planning

Date

2006

Authors

Shen, Yueshi

Hueper, Knut

Leite, F Silva

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

This paper investigates a novel procedure to calculate smooth interpolation curves of the rotation group SO3, which is commonly considered as the standard representation of rigid-body's orientations. The algorithm is a combination of rolling and wrapping