An Object Oriented Approach for Robust Guided Spatial Motions (original) (raw)

Abstract

The article presents an object-oriented framework for representing guided spatial motion in multibody systems. In this setting, the spatial track is regarded as a kinetostatic transmission element transmitting motion and forces as in a generic joint. For vector decompositions along the path, three different parametrizations (Frenet and Darboux frames, respectively, as well as the ODE generation proposed by Bishop) are analyzed. It is shown that for the Frenet frame parametrization, it is possible to avoid singularities at the points of inflection by a special blending technique. Track geometry is globally smoothed up to fifth order using B-Splines and Dierckx optimization routines, thus allowing for non-jerky acceleration layout. Roll-angle or banking information is additionally generated by globally smooth splines, thus also allowing for non-jerky rotations along the track. Local editing is made possible through the use of exponential blending functions. The result is a robust and ...

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