### Fundamentals of Robotics: Wrenches

In the previous lesson, we learned that screws are geometric interpretations of twists, and they can be used to express configurations in robotics. This lesson is about spatial forces or wrenches in robotics. We will talk about wrenches in this lesson, which are 6-vector representations of forces and moments in robotics. We will also become familiar with how to change the frame of representation of a wrench. This lesson is part of the series of lessons on foundations necessary to express robot motions. For a complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the…