### Screws: a Geometric Description of Twists in Robotics

In the previous lesson, we learned about velocities in robotics. We became familiar with angular and linear velocities and saw that stacking them together gives us the twist. We also saw how we could change the frame of reference for angular velocities and twists. This lesson is about screws as a geometric interpretation for twists and how they can be used to express configurations in robotics. This lesson is part of the series of lessons on foundations necessary to express robot motions. For the complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the configurations,…