Abstract
We present an algorithm to compute all factorizations into linear factors of univariate polynomials over the split quaternions, provided such a factorization exists. Failure of the algorithm is equivalent to non-factorizability for which we present also geometric interpretations in terms of rulings on the quadric of non-invertible split quaternions. However, suitable real polynomial multiples of split quaternion polynomials can still be factorized and we describe how to find these real polynomials. Split quaternion polynomials describe rational motions in the hyperbolic plane. Factorization with linear factors corresponds to the decomposition of the rational motion into hyperbolic rotations. Since multiplication with a real polynomial does not change the motion, this decomposition is always possible. Some of our ideas can be transferred to the factorization theory of motion polynomials. These are polynomials over the dual quaternions with real norm polynomial and they describe rational motions in Euclidean kinematics. We transfer techniques developed for split quaternions to compute new factorizations of certain dual quaternion polynomials.
Highlights
In kinematics, robotics and mechanism science Hamiltonian quaternions and dual quaternions have been employed to parametrize the group of EuclideanThis article is part of the ENGAGE 2019 Topical Collection on Geometric Algebra for Computing, Graphics and Engineering edited by Linwang Yuan (EiC), Werner Benger, Dietmar Hildenbrand, and Eckhard Hitzer. ∗Corresponding author. 29 Page 2 of 23D
We investigate the “geometry” of the factorization algorithm for generic cases and modify it such that it provably finds all factorizations into linear factors
In case a split quaternion polynomial representing a rational motion has no factorization with linear factors we can adopt a “degree elevation technique” from the Euclidean setup [12]: multiplying with a suitable real polynomial does not change the underlying rational motion but allows the decomposition into linear factors
Summary
Robotics and mechanism science Hamiltonian quaternions and dual quaternions have been employed to parametrize the group of Euclidean. This article is part of the ENGAGE 2019 Topical Collection on Geometric Algebra for Computing, Graphics and Engineering edited by Linwang Yuan (EiC), Werner Benger, Dietmar Hildenbrand, and Eckhard Hitzer. This article is part of the ENGAGE 2019 Topical Collection on Geometric Algebra for Computing, Graphics and Engineering edited by Linwang Yuan (EiC), Werner Benger, Dietmar Hildenbrand, and Eckhard Hitzer. ∗Corresponding author
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