具有不规则因子化的二次运动多项式
Daren A Thimm1, Zijia Li2,3, Hans-Peter Schröcker1
1Department of Basic Sciences in Engineering Sciences, University of Innsbruck, Technikerstraße 16, 6020 Innsbruck, Austria.
本研究描述了二次运动多项式的不规则因数分解,这些多项式使用克利福德代数来描述理性运动. 它确定了独特和多重因子化的条件,揭示了与符合Villarceau和循环转换的连接.
科学领域:
- 代数几何几何学的几何学
- 几何代数的几何代数
- 机器人技术 机器人技术 机器人技术
背景情况:
- 运动多项式,是克利福德代数上的多项式的一个类,用于表示理性运动.
- 一个标准的算法存在,用于分解运动多项式,但当一个关键系数是不可逆的时,它失败了,导致了不规则的因数分解.
研究的目的:
- 描述允许不规则因子化的二次运动多项式.
- 分析导致这些不规则案例中存在和数量的独特因子化的条件.
主要方法:
- 使用代数方程对不规则的因子分解进行表征.
- 在运动多项式因子算法中对系数可逆性的分析.
- 检查特定的子案例,包括通勤因素和的身体运动.
主要成果:
- 具有不规则因子化的二次运动多项式完全以代数条件为特征.
- 示例展示了具有1到无限多个唯一因子化的场景.
- 两个特殊的子案例产生了独特的多项式因子:符合维拉索运动 (通行因子) 和循环转换 (刚体运动).
结论:
- 这项研究提供了对运动多项式中的不规则因数分解的全面理解.
- 这些发现为从代数结构中获得的特定运动的几何解释提供了洞察力.
- 描述有助于分析和构建具有特定属性的理性运动.
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