C²-Continuous Orientation Planning for Robot End-Effector with B-Spline Curve Based on Logarithmic Quaternion

Table 2

Control points founded by the key knots.

Key knot (Pi)	Control point (di)
P1 (0, 0, 1.047)	d0 (0.132, −0.283, 0.307)
	d1 (0.132, −0.283, 0.307)
P2 (0, 0.785, 0)	d2 (−0.659, 1.416, −0.251)
P3 (1.571, 0, 0)	d3 (2.506, −0.668, −0.304)
P4 (0.468, 0.937, 1.171)	d5 (0.061, 1.258, 1.466)
	d5 (0.061, 1.258, 1.466)