Geometry of Dynamic and Higher-Order Kinematic Screw

Stefano Stramigioli, H. Bruyninckx

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)

Abstract

This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians' believe. Furthermore, it is proven that the "centripetal screw" as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body's dynamics can be geometrically expressed as a screw equation. The paper relies on a somewhat more formal treatment of the screw theory than usual, in order to clarify these "controversial" issues concerning the motion of rigid systems, and in order to make the link with the more general (and historically much richer) field of differential geometry.
Original languageEnglish
Title of host publicationProceedings of the 2001 IEEE Conference of Robotics and Automation
Place of PublicationSeoul, Korea
PublisherIEEE
Pages3344-3349
Number of pages6
ISBN (Print)0-7803-6578-X
DOIs
Publication statusPublished - 21 May 2001
Externally publishedYes
EventIEEE International Conference of Robotics and Automation, ICRA 2001 - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Conference

ConferenceIEEE International Conference of Robotics and Automation, ICRA 2001
Abbreviated titleICRA 2001
CountryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

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