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💎 Introduction
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Classroom Contents
Screws - A Geometric Description of Twists in Robotics - Fundamentals of Robotics
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- 1 💎 Introduction
- 2 💎 {q,ŝ,h} Interpretation of the Screw Axis
- 3 💎 Screw Interpretation of a Twist in Robotics
- 4 💎 Matrix Representation of the Screw Axis 𝘚
- 5 💎 Change of Frame of Reference of a Screw Axis 𝘚
- 6 💎 Exponential Coordinate Representation of Rigid Body Motions
- 7 💎 Example: Homogenous Transformation Matrix to Exponential Coordinates of Motion
- 8 💎 Example: Screw Motion Corresponding to a Given Twist
- 9 💎 Example: Exponential Coordinates of Motion to Homogenous Transformation Matrix
- 10 💎 Body Frame's Final Configuration After Travelling along the Screw Axis Defined in the Space or the Body Frame
- 11 💎 Concluding Remarks
