Screws - A Geometric Description of Twists in Robotics - Fundamentals of Robotics

This lesson explains screws as a geometric interpretation of twists in robotics and uses them to represent rigid-body configurations and motions. It includes frame changes and worked conversions between homogeneous transformation matrices and exponential coordinates.

Syllabus

Introduction
{q,ŝ,h} Interpretation of the Screw Axis
Screw Interpretation of a Twist in Robotics
Matrix Representation of the Screw Axis
Change of Frame of Reference of a Screw Axis
Exponential Coordinate Representation of Rigid Body Motions
Example: Homogenous Transformation Matrix to Exponential Coordinates of Motion
Example: Screw Motion Corresponding to a Given Twist
Example: Exponential Coordinates of Motion to Homogenous Transformation Matrix
Body Frame's Final Configuration After Travelling along the Screw Axis Defined in the Space or the Body Frame
Concluding Remarks