C<sup>2</sup>-Continuous Orientation Planning for Robot End-Effector with B-Spline Curve Based on Logarithmic Quaternion

<div>Cubic B-spline curve with free endpoint conditions.</div>

Mathematical Problems in Engineering

Figure 1: C<sup>2</sup>-Continuous Orientation Planning for Robot End-Effector with B-Spline Curve Based on Logarithmic Quaternion 