Motion Synthesis: From the Classical Work of Reuleaux to the More Modern Robot Motion Planning

This paper presents some of the methods for motion synthesis or geometric motion designGeometric motion design based on the previous work of the author and some of his collaborators. The aim of much of the work discussed in this paper has been to either transform the motion design problem to a curve design problem or to generalize techniques from planar to spatial kinematicsKinematics. The paper does not provide a complete survey of all the relevant methods and literature or discuss details of the methods presented. Such details and much of the references to some of the relevant works can be found in the references provided. The paper is written in memory of Prof. Carlos López-Cajún of Mexico who was active in IFToMM and a contributor to the field of Mechanisms and Machine Science.