This paper explains straight-line interpolation of solid object
motion, such as robot end effector translation and rotation.
Smoothly changing orientation is accomplished using quaternions-
a way of representing every orientation as four numbers (an angle
and an axis of rotation). The first portion of the paper clarifies
quaternions to provide an intuitive understanding of their role in
rotation. Interpolation is then discussed, concluding with some
problems in real manipulator implementations. The interpolation
method has been tested on an Excalibur robot.
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