@inproceedings{06b09c6b6ddb429baa49fcfa3b24335d,
title = "Geometric construction of piecewise line-symmetric spherical motions using quaternion biarcs",
abstract = "This paper employs quaternion biarcs to interpolate a set of orientations with angular velocity constraints. The resulting quaternion curve represents a piecewise spherical line-symmetric rational motion with C1 continuity. Since a quaternion arc corresponds to the motion of the planet gear in a special spherical epicyclic gear train, each segment of the quaternion biarcs can be realized with such an epicyclic gear train. Quaternion biarcs may be used to approximate B-spline quaternion curves that represent rational spherical motions that have applications in robot path planning, CAD/CAM, mechanism design, and computer graphics.",
keywords = "Biarcs, Epicyclic gears, Orientation interpolation, Quaternions, Rational b{\'e}zier B-splines, Spherical line-symmetric motion",
author = "Trujillo, \{Carlos A.\} and Ge, \{Q. J.\}",
year = "2006",
doi = "10.1115/detc2006-99647",
language = "English",
isbn = "079183784X",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "American Society of Mechanical Engineers (ASME)",
booktitle = "Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006",
note = "2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 ; Conference date: 10-09-2006 Through 13-09-2006",
}