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

S. Stramigioli; B. Maschke; C. Bidard

doi:10.1243/0954406021524873

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

S. Stramigioli, B. Maschke, C. Bidard

Research output: Contribution to journal › Article › Academic › peer-review

6 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	13-23
Number of pages	11
Journal	Proceedings of the Institution of Mechanical Engineers. Part C: Journal of mechanical engineering science
Volume	216
Issue number	C1
DOIs	https://doi.org/10.1243/0954406021524873
Publication status	Published - 2002

Keywords

Lie groups
Screw theory
Projective geometry

Access to Document

10.1243/0954406021524873

Cite this

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abstract = "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.",

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DO - 10.1243/0954406021524873

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JO - Proceedings of the Institution of Mechanical Engineers. Part C: Journal of mechanical engineering science

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