Characterisation of Frenet-Serret and Bishop motions with applications to needle steering
Journal article
Selig, JM (2013). Characterisation of Frenet-Serret and Bishop motions with applications to needle steering. Robotica. 31 (6), pp. 981 - 992. https://doi.org/10.1017/S026357471300026X
Authors | Selig, JM |
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Abstract | Frenet-Serret and Bishop rigid-body motions have many potential applications in robotics, graphics and computer-aided design. In order to study these motions, new characterisations in terms of their velocity twists are derived. This is extended to general motions based on any moving frame to a space curve. Furthermore, it is shown that any such general moving frame motion is the product of a Frenet-Serret motion with a rotation about the tangent vector. These ideas are applied to a simple model of needle steering. A simple kinematic model of the path of the needle is derived. It is then shown that this leads to Frenet-Serret motions of the needle tip but with constant curvature. Finally, some remarks about curves with constant curvature are made. © Cambridge University Press 2013. |
Year | 2013 |
Journal | Robotica |
Journal citation | 31 (6), pp. 981 - 992 |
Publisher | Cambridge University Press (CUP) |
ISSN | 0263-5747 |
Digital Object Identifier (DOI) | https://doi.org/10.1017/S026357471300026X |
Publication dates | |
01 Sep 2013 | |
Publication process dates | |
Deposited | 21 Jun 2016 |
Accepted | 13 Mar 2013 |
Accepted author manuscript | License File Access Level Open |
https://openresearch.lsbu.ac.uk/item/878xz
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