Constructing the Boundaries of Swept Volumes for Screw Motions

概要

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Screw motion primitives considerably extend the commonly used rotations and translations, but retain their representational conciseness and specific geometric properties. Each piecewise-screw motion is specified in terms of a sequence of key poses of the object that it interpolates at user controlled time values. The resulting piecewise-screw motion is unique and coordinate system independent. Also, the motion is independent of the manner in which the key-poses were specified. Although any two arbitrary poses may be interpolated by an infinite of motions we advocate screw motions for their simplicity, uniqueness and computational advantages. We present a new and efficient algorithm for constructing the boundaries of swept volumes created by moving polyhedra in screw motions. The algorithm takes a generate-and-test approach by computing the candidate surfaces of boundaries and trimming them after applying the point-in-sweep test. Examples are provided to show the efficacy of the algorithm.
一般社団法人日本機械学会の論文
2003-09-15