Titlebook: Geometric Algebra with Applications in Science and Engineering; Eduardo Bayro Corrochano,Garret Sobczyk Book 2001 Birkhäuser Boston 2001 A

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trajectory of a robot is specified as a set of homogeneous transforms that define key frames for a desired end-effector trajectory. These key frames are converted to double quaternions and interpolated by generalizing well known techniques for Bezier interpolation of quaternions. The result is an e