Integrability for the Derivative Formulas of Rotation Minimizing Flame in Euclidean 3-S pace and Its Applications

Abstract

We analyze integrability for the derivative formulas of the rotation minimizing frame in the Euclidean 3-space from a viewpoint of rotations around axes of the natural coordinate system. We give a theorem that presents only one component of the indirect solution of the rotation minimizing formulas. Using this theorem, we find a lemma which states the necessary condition for the indirect solution to be a steady solution. As an application of the lemma, the natural representation of the position vector field of a smooth curve whose the rotation minimizing vector field (or the Darboux vector field) makes a constant angle with a fixed straight line in space is obtained. Also, we realize that general helices using the position vector field consist of slant helices and Darboux helices in the sense of Bishop.