Geometric algebras for Euclidean geometry

DOI10.1007/S00006-016-0647-0MaRDI QIDQ2361027zbMATH OpenOpenAlexFDO

Authors Charles Gunn

Publication date 29 June 2017

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

Full work available at URL https://arxiv.org/abs/1411.6502

zbMATH Keywords

metric geometryEuclidean geometrykinematicsdualityprojective geometrydegenerate metrichomogeneous modelconformal geometric algebradual quaternionsrigid body motionbiquaternionsCayley-Klein constructiondual exterior algebraprojective geometric algebra

Mathematics Subject Classification ID

General theory of linear incidence geometry and projective geometries (51A05) Free motion of a rigid body (70E15) Exterior algebra, Grassmann algebras (15A75) Clifford algebras, spinors (15A66) Kinematics of a rigid body (70B10)

Abstract: The discussion of how to apply geometric algebra to euclidean $n$-space has been clouded by a number of conceptual misunderstandings which we first identify and resolve, based on a thorough review of crucial but largely forgotten themes from $19^{th}$ century mathematics. We then introduce the dual projectivized Clifford algebra $mathbfP(mathbb{R}_{n,0,1}^{\ast })$ (euclidean PGA) as the most promising homogeneous (1-up) candidate for euclidean geometry. We compare euclidean PGA and the popular 2-up model CGA (conformal geometric algebra), restricting attention to flat geometric primitives, and show that on this domain they exhibit the same formal feature set. We thereby establish that euclidean PGA is the smallest structure-preserving euclidean GA. We compare the two algebras in more detail, with respect to a number of practical criteria, including implementation of kinematics and rigid body mechanics. We then extend the comparison to include euclidean sphere primitives. We conclude that euclidean PGA provides a natural transition, both scientifically and pedagogically, between vector space models and the more complex and powerful CGA.

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Cited in

(23)

• A note on centralizers and twisted centralizers in Clifford algebras
• A 1d up approach to conformal geometric algebra: applications in line fitting and quantum mechanics
• Connections between matrix products for 3-vectors and geometric algebra
• Projective geometric algebra as a subalgebra of conformal geometric algebra
• On the homogeneous model of Euclidean geometry
• Tutorial appendix: Structure preserving representation of Euclidean motions through conformal geometric algebra
• High-order inverse dynamics of serial robots based on projective geometric algebra
• On some Lie groups in degenerate Clifford geometric algebras
• Bézier motions with end-constraints on speed
• On some Lie groups in degenerate geometric algebras
• Fitting a planar quadratic slerp motion
• Physical geometry by plane-based geometric algebra
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