Chapter 29

Kinematics and Animation

Bert Jöttler and Michael G. Wagner

This chapter demonstrates that the techniques of Computer Aided Geometric Design can be generalized to Kinematics, Computer Animation, and Robotics. Our approach relies on spatial rational spline motions which can be seen as the kinematical analogue of rational spline curves. The potential applications include keyframe interpolation in Computer Graphics, motion planning in Robotics, and sweep surface modelling in Geometric Design.

29.1 INTRODUCTION

The idea to use the powerful tools of Computer Aided Geometric Design in spatial kinematics originated in Computer Graphics, where rigid body motions are needed for visualizing moving objects in Computer Animation (keyframe ...

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