Rezumat

Acest capitol prezintă o teorie fundamentală pentru mișcările corpului rigid. Teoria șurubului, grupul Lie și algebra Lie au fost aplicate cu succes fizicii moderne și mișcării corpului rigid și au devenit un instrument puternic pentru analiza diferitelor mecanisme și roboți. Este făcută o prezentare generală de bază de la metodele algebrice convenționale la metodele geometrice moderne. Un exemplu de aplicație a unui robot SCARA este dat în ultima secțiune, care instruiește utilizarea instrumentelor matematice de bază prezentate în acest capitol. Cu siguranță, acest conținut nu este o versiune cuprinzătoare a cinematicii robotului, așa că cititorul interesat se poate referi la cărțile enumerate în referințe pentru obținerea unor procese de derivare mai detaliate.

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