Related papers: Factorization of Dual Quaternion Polynomials Witho…
Motion polynomials (polynomials over the dual quaternions with nonzero real norm) describe rational motions. We present a necessary and sufficient condition for reduced bounded motion polynomials to admit factorizations into monic linear…
We present an algorithm to compute all factorizations into linear factors of univariate polynomials over the split quaternions, provided such a factorization exists. Failure of the algorithm is equivalent to non-factorizability for which we…
We consider bivariate polynomials over the skew field of quaternions, where the indeterminates commute with all coefficients and with each other. We analyze existence of univariate factorizations, that is, factorizations with univariate…
In this paper, we consider the existence of a factorization of a monic, bounded motion polynomial. We prove existence of factorizations, possibly after multiplication with a real polynomial and provide algorithms for computing polynomial…
Motion polynomials are a specific type of polynomial over a Clifford algebra that can conveniently describe rational motions. There exists an algorithm for the factorization of motion polynomials that works in generic cases. It hinges on…
A general theorem on factorization of matrices with polynomial entries is proven and it is used to reduce polynomial Darboux matrices to linear ones. Some new examples of linear Darboux matrices are discussed.
We discuss existence of factorizations with linear factors for (left) polynomials over certain associative real involutive algebras, most notably over Clifford algebras. Because of their relevance to kinematics and mechanism science, we put…
We consider polynomials of bi-degree $(n,1)$ over the skew field of quaternions where the indeterminates commute with each other and with all coefficients. Polynomials of this type do not generally admit factorizations. We recall a…
We present a new algorithm to decompose generic spinor polynomials into linear factors. Spinor polynomials are certain polynomials with coefficients in the geometric algebra of dimension three that parametrize rational conformal motions.…
We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph…
This article provides a gentle introduction for a general mathematical audience to the factorization theory of motion polynomials and its application in mechanism science. This theory connects in a rather unexpected way a seemingly abstract…
Polynomial factorization and root finding are among the most standard themes of computational mathematics. Yet still, little has been done for polynomials over quaternion algebras, with the single exception of Hamiltonian quaternions for…
Spinor polynomials are polynomials with coefficients in the even sub-algebra of conformal geometric algebra whose norm polynomial is real. They describe rational conformal motions. Factorizations of spinor polynomial corresponds to the…
This paper is concerned with factor left prime factorization problems for multivariate polynomial matrices without full row rank. We propose a necessary and sufficient condition for the existence of factor left prime factorizations of a…
Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual…
In continuation to our recent work on noncommutative polynomial factorization, we consider the factorization problem for matrices of polynomials and show the following results. (1) Given as input a full rank $d\times d$ matrix $M$ whose…
We study the problem of decomposition (non-commutative factorization) of linear ordinary differential operators near an irregular singular point. The solution (given in terms of the Newton diagram and the respective characteristic numbers)…
This paper is concerned with the factorization and equivalence problems of multivariate polynomial matrices. We present some new criteria for the existence of matrix factorizations for a class of multivariate polynomial matrices, and obtain…
We propose a geometric explanation for the observation that generic quadratic polynomials over split quaternions may have up to six different factorizations while generic polynomials over Hamiltonian quaternions only have two. Split…
Polynomial factorization in conventional sense is an ill-posed problem due to its discontinuity with respect to coefficient perturbations, making it a challenge for numerical computation using empirical data. As a regularization, this paper…