This blog is intended primarily for engineering undergraduate, postgraduate, and Ph.D. students. Nonetheless, the text is also useful for mathematicians, scientists, technicians, and practitioners involved in robotics. The material collected is also suitable for advanced university courses in screw theory robot mechanics.
The blog will also serve as a reference companion to crucial topics in robotics mechanics addressed with screw theory. We believe the contents will be useful for start-ups and research departments involved in robotics.
The primary prerequisite is the right course in linear algebra. A course on control is also helpful for the robot simulations but not strictly necessary for following the core screw theory material. Some mathematical maturity is also desirable, although anyone who can master the concepts in chapter two will have no difficulty with the blog.
The next posts will treat the screw theory topics in a very visual and unified way, with plenty of exercises and figures. It is appropriate for students with only freshman-level physics, ordinary differential equations, linear algebra, and a little computing background.
For practitioners interested in exploring the potential of screw theory for robotics but do not have time to go through the theory entirely, this blog directly introduces the fundamental theorems and conclusions necessary for practical applications in robotics engineering. The blog’s goal is to help speed up the learning process for these topics.
For those looking for more examples, exercises, and simulations about applying the screw theory for robotics, who do not find them in other reference books with much more focus on theoretical aspects of the subject, we will offer many practical resources.