关键词: 螺旋矢量, 旋量, 优化算法, 经典螺旋运动, 误差准则

Abstract: The update calculation of dual quaternion, a most concise and efficient tool to describe general motion of a rigid body, should be implemented by using screw vector which has no redundant constraints. The solving program of optimization algorithm for screw vector referring to the optimizing method of rotation vector is presented. Under the classical screw motion selected for optimizing environment, the cause of noncommutativity error is analyzed and the error criterion for optimization is defined. Based on the error criterion, the optimizing process for solving screw vector is developed and consequently optimal coefficients for cases of the number of sample being less than or equal to 4 are obtained. The results show coefficients in the screw vector optimization algorithm just are identical to coefficients in the rotation vector optimization algorithm with the same number of sample. This conclusion verifies correctness of the generally accepted view.

Key words: screw vector, twist, optimization algorithm, classical screw motion, error criterion