Screws: a Geometric Description of Twists in Robotics

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,…
Read More
Fundamentals of Robot Motions: Preliminaries

Fundamentals of Robot Motions: Preliminaries

This post and the coming posts will be focused on the necessary tools needed to express the robot motions. In this post, you will become familiarized with the preliminaries and prerequisites needed before jumping into the main topics. For the full comprehension of the Fundamentals of Robot Motions and the necessary tools to express motion in robotics, please also read all the lessons in the following link (some lessons will be added later): https://www.mecharithm.com/category/learning-robotics-mechatronics/fundamentals-of-robotics-course/fundamentals-of-robot-motions/ When we talk about robot motions, we will need fundamentals such as the representations of configurations, velocities, and forces that cause the motions. In this post…
Read More