How to connect two points in space with a curve of fixed length?

Question

Exact duplicates:

http://stackoverflow.com/questions/552184/how-do-i-connect-a-curve-of-fixed-length-between-two-points-in-space-using-matlab

http://stackoverflow.com/questions/552226/how-to-connect-two-points-in-space-with-fixed-length-curve-using-matlab

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We are actually planning a Path between start and goal points for deformable linear objects (Snake like robots). The length of the snake like robot is fixed.