CNR ExploRA

Articolo in rivista, 2021, ENG, 10.1016/j.mechmachtheory.2021.104341

A practical algorithm for smooth interpolation between different angular positions

Legnani G.; Fassi I.; Tasora A.; Fusai D.

DIMI-UniBS Dipartimento Ingegneria Meccanica e Industriale, Università di Brescia, Via Branze 38, Brescia, 25123, DIMI-UniBS Dipartimento Ingegneria Meccanica e Industriale, Université di Brescia, Via Branze 38, Brescia 25123, Italy, , Italy; STIIMA-CNR Istituto di Sistemi e Tecnologie Industriali per il Manifatturiero Avanzato, National Research Council, Via Alfonso Corti 12, Milano, 20133, STIIMA-CNR Istituto di Sistemi e Tecnologie Industriali per il Manifatturiero Avanzato, National Research Council, Via Alfonso Corti 12, Milano 20133, Italy, , Italy; Dipartimento di Ingegneria e Architettura, Università di Parma, Parco Area delle Scienze, 181/A, PARMA, 43124, Dipartimento di Ingegneria e Architettura, Université di Parma, Parco Area delle Scienze, 181/A, PARMA 43124, Italy, , Italy

This paper proposes a new methodology for the interpolation of a given set of 3D rotation poses that have to be reached in successive times by preserving continuity in orientation, angular velocity and angular acceleration. The discussed algorithm ensures the generation of smooth angular trajectories without singularities. The distinctive features of the proposed approach are the straightforward formulation, the reduced computational burden and the lack of iterative procedures. The presented methodology has applications in the generation of spatial motion of mechanical systems (e.g. robotics, flying devices) or in 3D computer graphics. After a theoretical introduction, the proposed algorithm is compared with other methods available in literature and some possible applications are presented.

Mechanism and machine theory 162