Análisis de trayectorias y su simulación en MATLAB utilizando diversas técnicas de interpolación lineal

Abstract

This paper presents an analysis of the generation and simulation of trajectories as result of rotational movement in the orientation reference between a start point and an end point. These points can be established by rotation matrices, Euler´s angles, quaternions or rotation´s pairs that using linear interpolation techniques generate a trajectory and then it is mapped onto a unit sphere. To simulate the trajectories has been developed a graphic interface in MatLab, where the movement of the mobile reference system and the trajectory generated between the points is displayed