3 papers
cs.RO2026
Dual Park-Ravani Interpolation of Rigid Motions: Acceleration-Field Continuity and Holonomic Hermite Repair
Daniel Condurache
The Park-Ravani construction generates a twice continuously differentiable, frame-invariant spline on SO(3) by exponentiating cubic canonical-coordinate polynomials. We show that t…
cs.RO2026
Arbitrary-Order Hermite Interpolation of Rigid-Motion Jets via Hyper-Multidual Quaternions
Daniel Condurache
We study bilateral interpolation of finite-order rigid-motion jets represented by unit dual quaternions. An order- multidual (MD) algebra is the truncated polynomial algebra $\m…
cs.RO2025
An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
Calin Vaida, Iosif Birlescu, Bogdan Gherman +3
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneo…