Free-form additive motions using conformal geometric algebra

Research output: Contribution to journalArticle

Authors

Colleges, School and Institutes

External organisations

  • Univ Bath

Abstract

Free-form motions in B-spline form can be created from a number of prescribed control poses using the de Casteljau algorithm. With poses dened using conformal geometric algebra (CGA), it is natural to combine poses multiplicatively. Additive combinations oer alternative freedoms in design and avoid dealing with non-integer exponents. This paper investigates additive combinations and shows how to modify the conventional CGA denitions to allow such combinations to be well-dened. The additive and multiplicative approaches are compared and in general they generate similar motions, with the additive approach oering computational simplicity.

Details

Original languageEnglish
Pages (from-to)1560-1571
JournalInstitution of Mechanical Engineers. Proceedings. Part C: Journal of Mechanical Engineering Science
Volume232
Issue number9
Early online date2 May 2017
Publication statusPublished - May 2018

Keywords

  • conformal geometric algebra, free-form motion, motion curves, de Casteljau algorithm