Automatic Computation of the Screw Parameters of Rigid-Body Motions. Part I: Finitely-Separated Positions

[+] Author and Article Information
Jorge Angeles

Department of Mechanical Engineering, McGill University, Montreal, Que., Canada H3A 2K6

J. Dyn. Sys., Meas., Control 108(1), 32-38 (Mar 01, 1986) (7 pages) doi:10.1115/1.3143739 History: Received October 30, 1985; Online July 21, 2009


Introduced in this paper is a novel approach that leads to efficient algorithms for computing the screw parameters of rigid-body motions. This is based on invariants associated with the said motions. Finitely-separated positions are treated in this paper, infinitesimally-separated positions being the subject of an accompanying paper. The algorithms presented in both papers are meant for the real-time computation of the aforementioned parameters.

Copyright © 1986 by ASME
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