Invariants for Multi-twists, Screw Systems and Serial Manipulators

Abstract

The Euclidean group of proper isometries SE(3) acts on its Lie algebra, the vector space of twists by the adjoint action. This extends to multi-twists and screw systems. Invariants of these actions encode geometric information about the objects and are fundamental in applications to robot kinematics. This paper explores relations between known invariants and applies them to serial manipulators.