Skip to main content

Questions tagged [screw-theory]

A method of representing the mechanics (kinematics and dynamics) of a system using 6-element vectors (such as a twist or a wrench) which combine both the angular and linear components.

6 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
1 vote
0 answers
27 views

v_s quantity in twists

In Modern Robotics v2, we have the following figures: I don't understand why in Eq. 3.73, we have the given expression for $v_s$. My thinking is: The position $p$ is the position of the frame $b$ ...
user3180's user avatar
  • 161
0 votes
0 answers
27 views

Transforming wrenches between points and between frames

I am having a hard time understanding the transformation of wrenches between points and represented in different frames. For e.g. Consider a unit wrench passing through $r_{end}$. When expressed in ...
user132001's user avatar
0 votes
0 answers
28 views

What is the kinematic model of a quadrotor/quadcoptor with an X configuration?

I would like to know what is the kinematic model of a quadcopter in X-configuration. Basically I want the relation mapping rotor speed to the body twist (or body frame velocity). ...
Shravan's user avatar
  • 21
0 votes
1 answer
60 views

Lynch, Park derivation of the dynamic equations of motion

In Park and Lynch's "Modern Robotics" textbook (Section 8.2.1), they give the following derivation for the velocity and acceleration of a point $p_i$ with respect to a fixed body frame $\{b\}...
Molecular Lionel's user avatar
0 votes
0 answers
35 views

Screw theory for kinematics/dynamics of mechanisms

Is screw theory commonly used for general kinematics/dynamics of mechanisms (not just robotics)? I'd be interested in anything that covers the types of mechanisms you would find in a typical ...
Molecular Lionel's user avatar
0 votes
0 answers
79 views

Relationship between Lie Algebra (Murray, Lynch) and spatial vector (Featherstone) approaches

I am curious about the relationship between the Lie algebra/group approach to robot kinematics given by Murray (et al.) in "An Introduction to Mathematical Robotic Manipulation" and Lynch (...
Molecular Lionel's user avatar