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

<div>Interpolated curve with cubic B-spline.</div>

Mathematical Problems in Engineering

Figure 4: C<sup>2</sup>-Continuous Orientation Planning for Robot End-Effector with B-Spline Curve Based on Logarithmic Quaternion 