Obravnavamo odsekoma racionalna prostorska gibanja, ki so geometrijsko zvezna reda ena. Opišemo interpolacijsko shemo racionalnih zlepkov stopnje štiri, ki interpolirajo dane pozicije in smeri ...tangent v nekaterih izmed njih. Taka shema uspešno zmanjša razmik med prostostnimi stopnjami gibanja središča in rotacijskega dela.
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