In this paper, the four-point interpolatory subdivision scheme for curve generation is adapted to the interpolation of a set of positions of a cylindrical tool represented by dual quaternions. The resulting discrete model of the tool path lends itself naturally to an algorithm for computing the characteristic curve belonging to the boundary surface of the swept volume of a cylinder at each of the discrete positions. This approach to compute the discrete model of the swept surface of a motion is numerically robust and computationally efficient since it is based only on linear combinations. The results have applications in NC simulation and verification, robot path planning, and computer graphics.

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