Kinematic Geometric Modeling for Free-form Motion Generation

Kinematic Geometric Modeling for Free-form Motion Generation

Motion Design and Analysis

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This work presents new approaches for motion design and analysis suitable for the integration of Computer Aided Design (CAD), Computer Aided Manufacturing (CAM) and Computerized Numerical Control (CNC). Therefore, not only shape but also kinematic information is conveyed in an efficient manner that can be easily implemented in CAD/CAM systems and eventually interpreted by CNC manufacturing equipment. By using dual quaternions, quaternions and planar quaternions, the displacements of a rigid body in Cartesian space are mapped into points in the image space of displacements, transforming the kin...