Space kinematics and projective differential geometry over the ring of dual numbers

DOI10.1007/978-3-030-63403-2_2MaRDI QIDQ2019745zbMATH OpenOpenAlexFDO

Authors Hans-Peter Schröcker, Martin Pfurner, Johannes Siegele

Publication date 22 April 2021

Full work available at URL https://arxiv.org/abs/2006.14259

zbMATH Keywords

projective differential geometryspace kinematicsgroup of dual quaternionsgroup of rigid body displacements

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Projective differential geometry (53A20)

Abstract: We study an isomorphism between the group of rigid body displacements and the group of dual quaternions modulo the dual number multiplicative group from the viewpoint of differential geometry in a projective space over the dual numbers. Some seemingly weird phenomena in this space have lucid kinematic interpretations. An example is the existence of non-straight curves with a continuum of osculating tangents which correspond to motions in a cylinder group with osculating vertical Darboux motions. We also suggest geometrically meaningful ways to select osculating conics of a curve in this projective space and illustrate their corresponding motions. Furthermore, we investigate factorizability of these special motions and use the obtained results for the construction of overconstrained linkages.

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Cited in

(6)

• Dual quaternions and dual projective spaces
• Space kinematics and projective differential geometry over the ring of dual numbers
• The cross-motion invariant group and its application to kinematics
• Projective view on motion groups I: Kinematics and relativity
• On pseudohyperbolic space motions
• Exponential and Cayley maps for dual quaternions

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