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In recent years, there has been an increasing interest in developing geometric algorithms for kinematic computations. The aim of this paper is to present the notion of kinematic convexity as a key element for a new framework for spherical kinematic geometry that allows for the development of more elegant and efficient algorithms for geometric computations in kinematic applications. The resulting framework, called computational spherical kinematic geometry, is developed by combining the orienteddoi:10.1145/1364901.1364955 dblp:conf/sma/GePW08 fatcat:spfog5zdprbjxemtlywjftub74