Description: This paper considers geometric error control in the parabola-blending linear interpolation
method (Zhang, et al., 2011). Classical model of chord error by approximation with contact circle on the
parabolas leads to incorrect result. By computing the geometric error directly without accumulating the
approximation error and chord error, the authors realize correct geometric error control by establishing
inequality constraints on the accelerations of the motion.
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GEOMETRIC ERROR CONTROL IN THE.pdf
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