Projective view on motion groups I: Kinematics and relativity

DOI10.1007/S00006-019-0962-3MaRDI QIDQ2422752zbMATH OpenOpenAlexWikidataFDO

Authors Danail Brezov

Publication date 20 June 2019

Published in Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00006-019-0962-3

zbMATH Keywords

complex relativityprojective bivectorsscrew kinematics

Mathematics Subject Classification ID

Analysis on real and complex Lie groups (22E30) Differential geometric aspects in kinematics (53A17) Projective differential geometry (53A20) Special relativity (83A05)

Review text

The present paper summarizes the author understanding of Euclidean low dimensional motion groups starting with \(\operatorname{SO}(3)\) which are unified via projective construction that covers also the Galilean and Lorentzian settings. The interplay between vectors of finite rotations, dual angles, dual vectors, quaternions and screw theory is presented and the basic relations of the rigid body kinematics and dynamics are discussed since these relations are quite important in applied fields such as attitude control and inertial navigation, robotics, computer animation and vision, and etc.

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Cites work

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Cited in

(6)

• On complex kinematics and relativity
• Projective bivector parametrization of isometries in low dimensions
• Group theoretical formulation of free fall and projectile motion
• The cross-motion invariant group and its application to kinematics
• scientific article; zbMATH DE number 4196840 (Why is no real title available?)
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