Optimizing Motion Sequences with Projective Dual Quaternions

This paper builds upon a previous study suggesting an optimization procedure for rotation sequences by introducing a fourth factor in Euler-type decompositions, thus allowing for an additional degree of freedom used both as a variational parameter and a means to avoid the gimbal lock singularity. Here, an analogous result is derived for generic rigid motions, which is of potential interest in 3D robot manipulators, aircraft, and spacecraft using gimbals to navigate in space. The idea is based on Kotelnikov’s principle of transference, which extends the properties of pure rotations to arbitrary Galilean transformations, interpreted as screw motions. To do that in practice, it is convenient to use dual quaternions or their projective version, referred to as dual Rodrigues’ vectors. With this approach, the explicit solutions are easy to extend and therefore optimization is rather straightforward: we show, both analytically and with numerical examples, that factorizing motion into sequences of four consecutive screws is, in general, significantly more energy-efficient compared to using three.