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

Abstract

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.