Allan McRobie


Clifford Algebra

Large rotation kinematics

I have been collaborating with Dr Joan Lasenby on the use of Clifford Algebra as developed by David Hestenes into the mathematical framework called Geometric Algebra. This framework appears to be the natural mathematics for the description of mechanics, an alternative to both the modern differential topology formulations and the older classical tensor analysis descriptions. It is particularly suited to the description of problems involving large rotations. Joan and I have recently published a paper in the International Journal for Numerical Methods in Engineering explaining how finite element large displacement 3D beam-theory can be readily accomplished using Clifford Algebra. For further details about Clifford Algebra in general, I suggest you visit Joan's page and pursue the links there.

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fam@eng.cam.ac.uk