Factorization and generalized roots of dual complex matrices with Rodrigues' formula (Q2173659)
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English | Factorization and generalized roots of dual complex matrices with Rodrigues' formula |
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Factorization and generalized roots of dual complex matrices with Rodrigues' formula (English)
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17 April 2020
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This paper considers some computational problems in the group \(\mathrm{SO}(3)\) and losely related groups, including computation of nonintegral powers of matrices and factorization of matrices into products of reflections (Euler decompositions). The author uses Rodrigues' parametrization of \(\mathrm{SO}(3)\) by elements of the unit group \(\mathbb{H}^{\times}\) of the quaternions and Cayley's parametrization by skew-symmetric matrices. With engineering applications in mind the arguments are detailed with attention to exceptional cases which may arise.
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dual complex matrices
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line geometry
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matrix roots and powers
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Rodrigues formula
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polar decomposition
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Euler-type factorizations
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