🌟 Contents 🌟
💎 (00:00​​) Introduction
💎 (00:57​​) Introduction to Screw Theory
💎 (01:56​​) Chasles-Mozzi theorem
💎 (02:29​​) Importance of Screw Theory in Robotics
💎 (05:25​​) Screw Theory: Applications and Importance
💎 (12:25​​) Exponential Coordinates of Robot Motions
💎 (14:17​​) Examples of Using Screw Theory in Robotics Research
In this lesson, we will see an introduction to screw motion in robotics, and we will also see how we can define exponential coordinates for robot motions. This is the first lesson on a series of lessons on screw theory, and more lessons will be added in the future.
This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below:
www.mecharithm.com/screw-moti...
Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson.
Mecharithm would like to thank Prof. Daniel Martins to prepare a great presentation on screw theory, its applications, and its importance in robotics. Follow his work on his Google Scholar page:
📚scholar.google.com.br/citatio...
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References:
📘 Textbooks:
Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch
A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry
📃 Articles:
- Yang, F., Babaiasl, M. and Swensen, J.P., 2019. Fracture-directed steerable needles. Journal of Medical Robotics Research, 4(01), p.1842002.
- Babaiasl, M., Yang, F., Boccelli, S. and Swensen, J.P., 2020. Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 1166-1173). IEEE.
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