Kinematic interpretation of the Study quadric's ambient space

TL;DR

This paper provides a kinematic interpretation of the ambient space of the Study quadric, relating it to Euclidean 4-space displacements, and explores applications in motion design.

Contribution

It introduces a novel kinematic interpretation of the 7-dimensional ambient space of the Study quadric in terms of Euclidean 4-space displacements.

Findings

Extended inverse kinematic map discussed

Motions corresponding to straight lines in $P^7$ analyzed

Application in interactive motion design presented

Abstract

It is well known that real points of the Study quadric (sliced along a 3-dimensional generator space) correspond to displacements of the Euclidean 3-space. But we still lack of a kinematic meaning for the points of the ambient 7-dimensional projective space $P^7$. This paper gives one possible interpretation in terms of displacements of the Euclidean 4-space. From this point of view we also discuss the extended inverse kinematic map, motions corresponding to straight lines in $P^7$ and linear complexes of SE(3)-displacements. Moreover we present an application of this interpretation in the context of interactive motion design.