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Rational rotation-minimizing frames on polynomial space curves of arbitrary degree

2010
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Journal of symbolic computation
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A rotation-minimizing adapted frame on a space curve r(t) is an orthonormal basis (f 1 , f 2 , f 3 ) for R 3 such that f 1 is coincident with the curve tangent t = r /|r | at each point and the normal-plane vectors f 2 , f 3 exhibit no instantaneous rotation about f 1 . Such frames are of interest in applications such as spatial path planning, computer animation, robotics, and swept surface constructions. Polynomial curves with rational rotation-minimizing frames (RRMF curves) are necessarily

doi:10.1016/j.jsc.2010.03.004
fatcat:qmzns23qsbfcjowrarslijyrim