# C<sup>2</sup>-Continuous Orientation Planning for Robot End-Effector with B-Spline Curve Based on Logarithmic Quaternion

> Research article (Mathematical Problems in Engineering, 2020) · cited 11× · AI/ML

**Wikidata**: [openalex:W3044527061](https://www.wikidata.org/wiki/openalex:W3044527061)  
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