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Cubic Splines on Curved Spaces 总被引:5,自引:0,他引:5
NOAKES LYLE; HEINZINGER GREG; PADEN BRAD 《IMA Journal of Mathematical Control and Information》1989,6(4):465-473
We consider a second-order problem in the calculus of variations,with an application to robotics in mind. The analysis is carriedout on a general Riemannian manifold M and then specializedto the case where M is the Lie group SO(3) of rotations in R3.For SO(3), the Euler-Lagrange equations reduce to interestingnonlinear systems of ordinary differential equations in R3. 相似文献
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