Abstract
Using rational motions it is possible to apply many fundamental B?zier spline (or B-spline) techniques to the designs of motion. This paper develops and tests a simple automatic algorithm for representing C 1 smooth motion of a rigid triangle 4 in R3 , by means of piecewise parametric rational curves of degree 2m=2m for some m,when measurements of the positions of the vertices of the triangle 4 at a sequence of times ti; i = 0; 1; : : : ; n,in R3 are given. The method presented in this paper can be applied to various problems in computer animation as well as in robotics.