The differential calculus of screws: theory, geometrical interpretation, and applications

This article presents a novel and original formula for the higher-order time derivatives, and also for the partial derivatives of screws, which are successively computed in terms of Lie products, thus leading to the automation of the differentiation process. Through the process and, due to the pure geometric nature of the derivation approach, an enlightening physical interpretation of several screw derivatives is accomplished. Important applications for the proposed formula include higher-order kinematic analysis of open and closed kinematic chains and also the kinematic synthesis of serial and parallel manipulators. More specifically, the existence of a natural relationship is shown between the differential calculus of screws and the Lie subalgebras associated with the expected finite displacements of the end effector of an open kinematic chain. In this regard, a simple and comprehensible methodology is obtained, which considerably reduces the abstraction level frequently requiredwhenone resorts tomore abstract concepts, such as Lie groups or Lie subalgebras; thus keeping the required mathematical background to the extent that is strictly necessary for kinematic purposes. Furthermore, by following the approach proposed in this article, the elements of Lie subalgebra arise in a natural way - due to the corresponding changes in screws through time - and they also have the typical shape of the so-called ordered Lie products that characterize those screws that are compatible with the feasible joint displacements of an arbitrary serial manipulator. Finally, several application examples - involving typical, serial manipulators - are presented in order to prove the feasibility and validity of the proposed method.