Parametric Continuous and Smooth Motion Interpolation

1996 ◽  
Vol 118 (4) ◽  
pp. 494-498 ◽  
Author(s):  
L. N. Srinivasan ◽  
Q. J. Ge
Keyword(s):  
Mechanical Systems ◽  
Trajectory Generation ◽  
Second Order ◽  
Geometric Design ◽  
Computer Aided Geometric Design ◽  
Smooth Motion ◽  
Computer Aided ◽  
Cad Cam ◽  
C2 Continuity

This paper deals with the synthesis of a second order parametrically continuous (C2) motion that interpolates through a given set of configurations of an object. It derives conditions for blending two motion segments with C2 continuity and develops an algorithm for constructing a C2 composite Be´zier type motion that has similarities to Beta-splines in the field of Computer Aided Geometric Design. A criterion for evaluating the smoothness of a motion is established and is used to synthesize a “globally smooth” motion. The results have applications in trajectory generation in robotics, mechanical systems animation and CAD/CAM.

Parametric Continuity and Smooth Motion Interpolation

1995 ◽  
Author(s):  
Lakshmi N. Srinivasan ◽  
Q. J. Ge
Keyword(s):  
Mechanical Systems ◽  
Trajectory Generation ◽  
Geometric Design ◽  
Second Derivative ◽  
Computer Aided Geometric Design ◽  
Smooth Motion ◽  
Computer Aided ◽  
Cad Cam ◽  
C2 Continuity ◽  
Parametric Continuity

Abstract This paper deals with the design of a second derivative continuous (C2) motion that interpolates through a given set of configurations of an object. It derives conditions for blending two motion segments with C2 continuity and develops an algorithm for constructing a C2 composite Bézier type motion that has similarities to Beta-splines in the field of Computer Aided Geometric Design. A criteria for evaluating the smoothness of motion is established and is used to synthesize “globally smooth” motions. The results have applications in trajectory generation in robotics, mechanical systems animation and CAD/CAM.

Computer Aided Geometric Design of Two-Parameter Freeform Motions

1999 ◽  
Vol 121 (4) ◽  
pp. 502-506 ◽  
Author(s):  
Q. J. Ge ◽  
M. Sirchia
Keyword(s):  
Computer Aided Design ◽  
Control Structure ◽  
Geometric Design ◽  
Computer Aided Geometric Design ◽  
Kinematic Control ◽  
Computer Aided ◽  
Cad Cam ◽  
Aided Design ◽  
Two Parameter ◽  
And Robotics

This paper brings together the notion of analytically defined two-parameter motion in Theoretical Kinematics and the notion of freeform surfaces in Computer Aided Geometric Design (CAGD) to develop methods for computer aided design of two-parameter freeform motions. In particular, a rational Be´zier representation for two-parameter freeform motions is developed. It has been shown that the trajectory surface of such a motion is a tensor-product rational Be´zier surface and that such a kinematically generated surface has a geometric as well as a kinematic control structure. The results have not only theoretical interest in CAGD and kinematics but also applications in CAD/CAM and Robotics.

A Simple Practical Criterion to Guarantee Second Order Smoothness of Blend Surfaces

1989 ◽  
Author(s):  
J. Pegna ◽  
F.-E. Wolter
Keyword(s):  
Second Order ◽  
Geometric Design ◽  
Computer Aided Geometric Design ◽  
Common Boundary ◽  
First Order ◽  
Computer Aided ◽  
The Common ◽  
Blend Surfaces ◽  
Continuous Curves ◽  
Order Smoothness

Abstract Computer Aided Geometric Design of surfaces sometimes presents problems that were not envisioned by mathematicians in differential geometry. This paper presents mathematical results that pertain to the design of second order smooth blending surfaces. Second order smoothness normally requires that normal curvatures agree along all tangent directions at all points of the common boundary of two patches, called the linkage curve. The Linkage Curve Theorem proved here shows that, for the blend to be second order smooth when it is already first order smooth, it is sufficient that normal curvatures agree in one direction other than the tangent to a first order continuous linkage curve. This result is significant for it substantiates earlier works in computer aided geometric design. It also offers simple practical means of generating second order blends for it reduces the dimensionality of the problem to that of curve fairing, and is well adapted to a formulation of the blend surface using sweeps. From a theoretical viewpoint, it is remarkable that one can generate second order smooth blends with the assumption that the linkage curve is only first order smooth. This property may be helpful to the designer since linkage curves can be constructed from low order piecewise continuous curves.

Geometrical Criteria to Guarantee Curvature Continuity of Blend Surfaces

1992 ◽  
Vol 114 (1) ◽  
pp. 201-210 ◽  
Author(s):  
Joseph Pegna ◽  
Franz-Erich Wolter
Keyword(s):  
Second Order ◽  
Geometric Design ◽  
Technical Requirement ◽  
Computer Aided Geometric Design ◽  
First Order ◽  
Surface Patches ◽  
Computer Aided ◽  
Curvature Continuity ◽  
Continuous Surface ◽  
Blend Surfaces

Computer Aided Geometric Design (CAGD) of surfaces sometimes presents problems that were not envisioned in classical differential geometry. This paper presents mathematical results that pertain to the design of curvature continuous blending surfaces. Curvature continuity across normal continuous surface patches requires that normal curvatures agree along all tangent directions at all points of the common boundary of two patches, called the linkage curve. The Linkage Curve theorem proved here shows that, for the blend to be curvature continuous when it is already normal continuous, it is sufficient that normal curvatures agree in one direction other than the tangent to a first order continuous linkage curve. This result is significant for it substantiates earlier works in computer aided geometric design. It also offers simple practical means of generating second order blends for it reduces the dimensionality of the problem to that of curve fairing, and is well adapted to a formulation of the blend surface using sweeps. From a theoretical viewpoint, it is remarkable that one can generate second order smooth blends with the assumption that the linkage curve is only first order smooth. The geometric criteria presented may be helpful to the designer since curvature continuity is a technical requirement in hull or cam design problems. The usefulness of the linkage curve theorem is illustrated with a second order blending problem whose implementation will not be detailed here.

Motion Interpolation With G2 Composite Bézier Motions

1994 ◽  
Author(s):  
Q. J. Ge ◽  
Donglai Kang
Keyword(s):  
Robot Manipulators ◽  
Trajectory Generation ◽  
Second Order ◽  
Inverse Design ◽  
Geometric Continuity ◽  
Direct Construction ◽  
Cnc Machines ◽  
Smooth Motion ◽  
Computer Aided ◽  
Refined Version

Abstract This paper deals with smooth motion interpolation. Recently, a direct construction algorithm was developed for designing piecewise parametric motions with second order geometric continuity (G2). The present paper provides a refined version of the G2 spline algorithm and shows how the G2 spline motion can be used to fulfill the task of motion interpolation by solving the problem of inverse design for the G2 spline motion. The results are useful for computer aided motion animation, and Cartesian trajectory generation for CNC machines and robot manipulators.

Computer Aided Geometric Design of Two-Parameter Freeform Motions

1998 ◽  
Author(s):  
Q. J. Ge ◽  
M. Sirchia
Keyword(s):  
Computer Aided Design ◽  
Control Structure ◽  
Geometric Design ◽  
Computer Aided Geometric Design ◽  
Computer Aided ◽  
Cad Cam ◽  
Rational Bézier Surface ◽  
Aided Design ◽  
Two Parameter ◽  
And Robotics

Abstract This paper brings together the notion of analytically defined two-parameter motion in Theoretical Kinematics and the notion of freeform surfaces in Computer Aided Geometric Design (CAGD) to develop methods for computer aided design of two-parameter freeform motions. In particular, a rational Bézier representation for two-parameter freeform motions is developed. It has been shown that the trajectory surface of such a motion is a tensor-product rational Bézier surface and that such a kinematically generated surface has a geometric as well as a kinematic control structure. The results have not only theoretical interest in CAGD and kinematics but also applications in CAD/CAM and Robotics.

scholarly journals Conversion Between Cubic Bezier Curves and Catmull–Rom Splines

2021 ◽  
Vol 2 (5) ◽  
Author(s):  
Soroosh Tayebi Arasteh ◽  
Adam Kalisz
Keyword(s):  
Computer Graphics ◽  
Geometric Design ◽  
The Other ◽  
Control Points ◽  
Complex Surfaces ◽  
Linear Transformations ◽  
Computer Aided Geometric Design ◽  
Cubic Curves ◽  
Original Curve ◽  
Computer Aided

AbstractSplines are one of the main methods of mathematically representing complicated shapes, which have become the primary technique in the fields of Computer Graphics (CG) and Computer-Aided Geometric Design (CAGD) for modeling complex surfaces. Among all, Bézier and Catmull–Rom splines are the most common in the sub-fields of engineering. In this paper, we focus on conversion between cubic Bézier and Catmull–Rom curve segments, rather than going through their properties. By deriving the conversion equations, we aim at converting the original set of the control points of either of the Catmull–Rom or Bézier cubic curves to a new set of control points, which corresponds to approximately the same shape as the original curve, when considered as the set of the control points of the other curve. Due to providing simple linear transformations of control points, the method is very simple, efficient, and easy to implement, which is further validated in this paper using some numerical and visual examples.

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