Parametric Continuous and Smooth Motion Interpolation

[+] Author and Article Information
L. N. Srinivasan, Q. J. Ge

Department of Mechanical Engineering, State University of New York at Stony Brook, Stony Brook, NY 11794-2300

J. Mech. Des 118(4), 494-498 (Dec 01, 1996) (5 pages) doi:10.1115/1.2826918 History: Received May 01, 1995; Revised February 01, 1996; Online December 11, 2007


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 Bézier 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.

Copyright © 1996 by The American Society of Mechanical Engineers
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