Constructing 3D motions from curvature and torsion profiles

Robert Cripps, G Mullineux

Research output: Contribution to journalArticle

6 Citations (Scopus)


A means for constructing a free-form motion in three dimensions is given. A sparse sequence of prescribed poses is used to guide the motion, and some of these can also be specified to be precision poses through which the motion must pass. The resultant motion is given in a sequence of refined poses. Geometric algebra is used to specify these in a way that is analogous to the use of complex numbers in an equivalent approach for free-form curves. (C) 2012 Elsevier Ltd. All rights reserved.
Original languageEnglish
Pages (from-to)379-387
Number of pages9
JournalComputer-Aided Design
Issue number5
Publication statusPublished - 1 May 2012


  • Free-form motion
  • Free-form curve
  • Torsion
  • Point-based representation
  • Geometric algebra
  • Curvature


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