Related papers: Motion Polynomials Admitting a Factorization with …
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…
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…
In this paper we investigate factorizations of polynomials over the ring of dual quaternions into linear factors. While earlier results assume that the norm polynomial is real ("motion polynomials"), we only require the absence of real…
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…
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…
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…
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 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…
In this paper, a randomized algorithm for deciding the irreducibility of an irreducible polynomial and factoring a reducible polynomial over the field of rational numbers is presented. The main idea underlying the algorithm is based on…
In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…
This paper investigates the construction of rational motions of a minimal quaternionic degree that generate a prescribed plane trajectory (a ``rational torse''). Using the algebraic framework of dual quaternions, we formulate the problem as…
Since its introduction in 2012, the factorization theory for rational motions quickly evolved and found applications in theoretical and applied mechanism science. We provide an accessible introduction to motion factorization with many…
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…
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…
It is proved that each of compact linear groups of one special type admits a polynomial factorization map onto a real vector space. More exactly, the group is supposed to be non-commutative one-dimensional and to have two connected…
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…
The trajectories of a rational motion given by a polynomial of degree n in the dual quaternion model of rigid body displacements are generically of degree 2n. In this article we study those exceptional motions whose trajectory degree is…
A sharp bound is obtained for the number of ways to express the monomial $X^n$ as a product of linear factors over $\mathbb{Z}/p^{\alpha}\mathbb{Z}$. The proof relies on an induction-on-scale procedure which is used to estimate the number…
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…
Following the works by Lin et al. (Circuits Syst. Signal Process. 20(6): 601-618, 2001) and Liu et al. (Circuits Syst. Signal Process. 30(3): 553-566, 2011), we investigate how to factorize a class of multivariate polynomial matrices. The…