Marco Kappertz

Spherical Cubic Blends: $\mathcal{C}^{2}$-Continuous, Zero-Clamped, and Time-Optimized Interpolation of Quaternions

Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space (\mathcal{C}\mathcal{C}-space). While the interpolation of translations in Euclidean space is strai…