Rotation-minimizing osculating frames ?
The rotation-minimizing osculating frame (RMOF) on space curves is introduced. RMOFs define yaw-free rigid-body motion along a space curve. The RMOF can be used to construct a novel type of ruled surface. Polynomial space curves with rational RMOFs must be of degree 7 at least.
ruled surfaces rotation-minimizing frames pythagorean-hodograph curves quaternions angular velocity rigid body motion