# 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
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 $b$ ...
• 161
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 ...
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). ...
• 21
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\}...