On the geometry of rigid body motions: the relation between Lie groups and screws

S. Stramigioli, B. Maschke, C. Bidard

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    This paper gives a synthetic presentation of the geometry of rigid-body motion in a projective geometrical framework. An important issue is the geometric approach to the identification of twists and wrenches in a Lie group approach and their relation to screws. The paper presents a novel formal way to describe the spaces of lines, axials, polars and screws as subsets or subspaces of Lie algebras in order to make clear the relation between screw concepts and Lie group concepts.
    Original languageEnglish
    Pages (from-to)13-23
    Number of pages11
    JournalProceedings of the Institution of Mechanical Engineers. Part C: Journal of mechanical engineering science
    Issue numberC1
    Publication statusPublished - 2002


    • Lie groups
    • Screw theory
    • Projective geometry

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