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Abstract
Freeform motions in Bspline form can be created from a number of prescribed control poses using the de Casteljau algorithm. With poses defined using conformal geometric algebra, it is natural to combine poses multiplicatively. Additive combinations offer alternative freedoms in design and avoid dealing with noninteger exponents. This paper investigates additive combinations and shows how to modify the conventional conformal geometric algebra definitions to allow such combinations to be welldefined. The additive and multiplicative approaches are compared and in general they generate similar motions, with the additive approach offering computational simplicity.
Original language  English 

Pages (fromto)  15601571 
Number of pages  12 
Journal  Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 
Volume  232 
Issue number  9 
Early online date  2 May 2017 
DOIs  
Publication status  Published  1 May 2018 
Keywords
 Freeform motion
 conformal geometric algebra
 de Casteljau algorithm
 motion curves
ASJC Scopus subject areas
 Mechanical Engineering
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Dive into the research topics of 'Freeform additive motions using conformal geometric algebra'. Together they form a unique fingerprint.Projects
 1 Finished

Algebraic Modelling of 5axis Tool Path Motions
Engineering and Physical Sciences Research Council
31/03/14 → 30/03/17
Project: Research council
Profiles

Glen Mullineux
 Department of Mechanical Engineering  Professor Emeritus
Person: Honorary / Visiting Staff