Using rational motions it is possible to apply many fundamental B-spline techniques to the design of motions. The present paper summarizes the basic theory of rational motions and introduces a linear control structure for piecewise rational motions suitable for geometry processing. Moreover it provides algorithms for the calculation of the surface which is swept out by a moving polyhedron and examines interpolation techniques. The methods presented in this paper can be applied to various problems in computer animation as well as in robotics.

Issue Section:
Research Papers
Topics:
B-splines, Computer-aided design, Algorithms, Computers, Design, Geometry, Interpolation, Robotics
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