Automatic Computation of the Screw Parameters of Rigid-Body Motions. Part II: Infinitesimally-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), 39-43 (Mar 01, 1986) (5 pages) doi:10.1115/1.3143740 History: Received October 30, 1985; Online July 21, 2009


This paper follows a previous one on the computation of the screw parameters of rigid-body motions defined by two finitely-separated positions. The subject of the present paper is the computation of the said parameters associated with motions defined by two infinitesimally-separated positions. Both papers are based on invariant concepts, associated with the motion under study, which lead naturally to efficient real-time implementable algorithms.

Copyright © 1986 by ASME
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