Rigid body rotational motion design method based on spherical spline curve

Abstract

The invention relates to the field of inertial navigation and computer animation design, and provides a rigid body rotational motion design method based on a spherical spline curve, which comprises the following steps: step 100, setting attitude data of rotational motion of a rigid body at N key moments in a motion process; step 200, fitting a tangent vector, a unit tangent vector, a curvature vector and a second-order conjugate vector of the rotary motion at each key moment; step 300, constructing a spherical spline curve with continuous second-order parameters by utilizing a quintic spherical Bezier curve on the basis of the rotary motion data fitted in the step 200; and step 400, calculating a rotational motion track of any point on the rigid body by utilizing the spherical spline curveobtained in the step 300 to finish the design of the rotational motion of the rigid body. The method is simple and convenient, limitation on known conditions is reduced, and motion control is more flexible.

Description

technical field [0001] The invention relates to the fields of inertial navigation and computer animation design, in particular to a design method for rigid body rotation motion based on spherical spline curves. Background technique [0002] In the process of inertial navigation and computer animation design, the problem of planning the trajectory of the target object is often involved, and the generation of rigid body rotation is a basic task. The rotational motion of a rigid body can be represented by a rotation matrix (a 3×3 orthogonal matrix with a determinant of 1) or a unit quaternion curve (also known as a three-dimensional spherical curve). Compared with the rotation matrix, the unit quaternion has four variables and three degrees of freedom, which is more advantageous in describing rotational motion. Therefore, the research on the construction of spherical splines has important theoretical and practical significance to the fields of computer animation, computer-aide...

AI Technical Summary

Problems solved by technology

[0004] The present invention mainly solves the problems that the existing rigid body rotational motion design technology requires too many known conditions, the scope of application is small, and the motion cannot be locally adjusted, etc., and proposes a rigid body rotational motion design method based on spherical spline curves

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