Invariants for Multi-Twists, Screw Systems and Serial Manipulators
The Euclidean group of proper isometries SE(3) acts on its Lie algebra, the vector space of twists by the adjoint action. This extends to multi-twists and screw systems. Invariants of these actions encode geometric information about the objects and are fundamental in applications to robot kinematics. This paper explores relations between known invariants and applies them to serial manipulators.
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Donelan, P. (2020). Invariants for Multi-Twists, Screw Systems and Serial Manipulators. In Jadran Lenarčič, Bruno Siciliano (Ed.), International Symposium on Advances in Robot Kinematics (15, pp. 133-141). Springer. https://doi.org/10.1007/978-3-030-50975-0_17Publisher DOI
Book title
International Symposium on Advances in Robot KinematicsPublisher
SpringerPlace of publication
ChamPagination
133-141Editors
Jadran Lenarčič; Bruno SicilianoSeries
Springer Proceedings in Advanced RoboticsVolume
15ISBN
9783030509743ISSN
2511-1256Usage metrics
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