COMPUTER-AIDED GEOMETRIC DESIGN OF MOTION INTERPOLANTS

This paper studies continuous computational geometry of motion and dev elops a method for Computer Aided Geometric Design (CAGD) of motion in terpolants. The approach uses a mapping of spatial kinematics to conve rt the problem of interpolating displacements to that of interpolating points in the space of the mapping. To facilitate the point interpola tion, the previously unorientable mapping space is made orientable. Me thods are then developed for designing spline curves in the mapping sp ace with tangent, curvature and torsion continuities. The results have application in computer animation of three-dimensional objects used i n computer graphics, computer vision and simulation of mechanical syst ems.