Lecture 4 - Spatial Kinematics

Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Lecture 4.
Spatial Kinematics. Constraint.
Spatial kinematics
Classifying displacements
Chasless theorem
Screws
Cones
Kinematic
constraint
Matthew T. Mason
Counting variables and

equations
General form
Classifying constraints
Mobility, Grbler
Mobility and connectivity
Grblers formula
Mechanics of Manipulation
Outline
Spherical kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Kinematic constraint
Counting variables and equations
General form
Mobility, Grbler
Grblers formula
Mobility, Grbler
Grblers formula
About spherical kinematics
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Why study motions of the sphere? Because it

corresponds to rotations about a given point of E3 .
There is a close connection to planar kinematics. Let
the radius of the sphere approach infinity . . .
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Two not-antipodal points enough
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Theorem (2.5)
Chasless theorem
Screws
Cones
A displacement of the sphere is completely determined

by the motion of any two points that are not antipodal.
Kinematic
constraint
equations
General form
Proof.
Construct a coordinate frame . . .
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Eulers theorem
Theorem (2.6)
For every spatial rotation, there is a line of fixed points. In
other words, every rotation about a point is a rotation
about a line, called the rotation axis.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
Proof.
I
Define A, AA0 , B, B 0 , BB 0 .
Define C to be either intersection of

AA0 with BB 0 .
Let R be the rotation mapping A to

A0 and C to itself.
Show R maps B to B 0 , so R is the

given displacement.

equations
General form
Mobility, Grbler
A
B
C
A
B
O
Grblers formula
Spatial kinematics
Why? What do we want to know?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Why?
I
We seem to live in a three-dimensional space.
What do we want to know? Lets review the plane

and the sphere for ideas!
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Spatial kinematics
Why? What do we want to know?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Why?
I
We seem to live in a three-dimensional space.
What do we want to know? Lets review the plane

and the sphere for ideas!
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Review of displacements: planar

For the Euclidean plane, are there . . .
I . . . rotations that are not translations?
I . . . translations that are not rotations?
I . . . displacements that are both rotations and
translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
. . . displacements that are neither?
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
SE(2): Displacements of the Euclidean plane

I . . . rotations that are not translations? Many.
translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

I . . . translations that are not rotations? Many.
translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? Onethe identity. The null
displacement.
I . . . displacements that are neither?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? Onethe identity. The null
displacement.
I . . . displacements that are neither? Nope.
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
Review of displacements: spherical

For the sphere, are there . . .
translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
SO(3): Displacements of the sphere

translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

I . . . translations that are not rotations? No.
translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? One.
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? One.
I . . . displacements that are neither? Nope.
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
Preview of spatial displacements

For Euclidean three space, are there . . .
translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
SE(3): Displacements of Euclidean three space

translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? One.
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? One.
I . . . displacements that are neither? Its not obvious!
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
What is a twist?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Definition (twist)
Spatial kinematics
A twist is a rotation about a line,

composed with a translation parallel to
the line.
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Does a twist have a fixed point?
Mobility, Grbler
Grblers formula
Does a twist move all points along

parallel lines?
What is a twist?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Definition (twist)
Spatial kinematics

the line.
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form

No. Its not a rotation.
parallel lines?
Mobility, Grbler
Grblers formula
What is a twist?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Definition (twist)
Spatial kinematics

the line.
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form

No. Its not a rotation.
parallel lines?
No. Its not a translation.
Mobility, Grbler
Grblers formula

translations? One.
I . . . displacements that are not twists?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? One.
I . . . displacements that are neither? Twists!
I . . . displacements that are not twists?
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements

translations? One.
I . . . displacements that are neither? Twists!
I . . . displacements that are not twists? No. Chasless
theorem.
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Rotations
Translations
Displacements
Chasless theorem
Lecture 4.
Spatial Kinematics.
Constraint.
Theorem (2.7)
Every spatial displacement is the composition of a
rotation about some axis, and a translation along the
same axis.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Proof.
I
Assume arbitrary displacement D is given.
Use theorem 2.2 to decompose D = R T .
Decompose T into components parallel to and

perpendicular to axis of R: D = R T Tk .
R T is planar either a translation or a rotation.

In either case the proof proceeds easily with
D = (R T ) Tk as the desired decomposition.
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Screws.
Definition
A screw is a line in space with an
associated pitch, which is a ratio of
linear to angular quantities.
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Definition
A twist is a screw plus a scalar
magnitude, giving a rotation about the
screw axis plus a translation along the
screw axis. The rotation angle is the
twist magnitude, and the translation
distance is the magnitude times the
pitch. Thus the pitch is the ratio of
translation to rotation.
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Overview of the Screw idea
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Its the geometrical object associated with various

applications.
Spatial kinematics
Chasless theorem
Screws
Cones
A point is the geometrical object associated with a

planar rotationits rotation center.
A line is the the geometrical object associated with a

spatial rotationthe rotation axis.
General form
A screw is the geometrical object associated with a

twist or a wrench.
Grblers formula
Kinematic
constraint
equations
Mobility, Grbler
Pitch
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
For twists, we define pitch to be translation distance

over rotation angle.
When we define wrenches, we will define pitch to be

torque divided by force.
So, cannot say in the abstract, angular / linear, or

linear / angular.
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Analogous to centrodes . . .
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
On the sphere . . .
I
Plotting the instantaneous rotation

axis in the fixed and moving
frames gives fixed and moving
cones.
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
In three space . . .
I
Plotting the instantaneous screw

axis in the fixed and moving
frames gives fixed and moving
axodes. (How to draw pitch?)
Mobility, Grbler
Grblers formula
Kinematic constraint
Motivation
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Why kinematic constraint?
Eulers theorem
Spatial kinematics
Chasless theorem
Constraint is fundamental to manipulation. All the

good stuff happens at the boundaries, the nooks and
crannies, of the configuration space.
Simplest approach to manipulation: attach object
(grasp) to a programmable motion device (arm).
Attachment = constraint.
Many goals involve kinematic constraint: put

something on a table, assemble something, etc.
We use kinematic constraint to achieve precision.
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Kinematic constraint: the main idea
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
In simple cases, freedoms and constraints are just a

matter of counting unknowns and equations.
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
nominal DOFs
independent constraints
= DOFs
Cones
Kinematic
constraint
equations
General form
Things to worry about:

I
I
I
If an equation reduces DOFs by 1, does an

inequation reduce DOFs by 1/2?
Identifying dependencies and singular cases.
Constraints on velocity versus on configuration.
Mobility, Grbler
Grblers formula
Differential geometry
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Definition (Tangent space)

Let Q be a configuration
space, let q Q be a
configuration. The tangent
space at q Tq Q is the vector
space comprising all velocity
vectors at q.
Chasless theorem
Screws
Cones
Kinematic
constraint
equations
General form
Mobility, Grbler
Grblers formula
Constraint in general
Consider constraints of the form
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
Eulers theorem
Spatial kinematics
t) = 0
f (q, q,
Chasless theorem
Screws
Cones
or
t) 0
f (q, q,
Kinematic
constraint
equations
General form
where
Mobility, Grbler
q
q
configuration space, e.g. (x, y , )
y , )
Tq Q
tangent space, e.g. (x,
= time
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Constraint: taxonomy and examples

bilateral
Expressed as an equation.
Two sided.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
y =0
Screws
Cones
.x;y/
=0
Kinematic
constraint
equations
unilateral
General form
Expressed as an
inequation. One sided.
Mobility, Grbler
y 0
y + 2 sin 0
y + 2 sin + cos 0
y + cos 0
(x,y)
x

Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Constraint: taxonomy and examples

scleronomic
Spherical
kinematics
Independent of t.
Stationary.
Eulers theorem
Spatial kinematics
rheonomic
Chasless theorem
Screws
Depends on t.
Cones
(x,y)
x sin(2t) y cos(2t) = 0
= 2 t
Kinematic
constraint
equations
= 2t
General form
Mobility, Grbler
holonomic
Grblers formula
Independent of q and
bilateral.
(x,y)
f (q, t) = 0
nonholonomic
Lecture 4.
Spatial Kinematics.
Constraint.
Constraint and kinematic mechanisms
Spherical
kinematics
Eulers theorem
Link: a rigid body;

Joint: imposes one or
more constraints on
the relative motion of
two links;
Kinematic
mechanism: a bunch
of links joined by joints;
lower pairs joints
involving positive
contact area.
Spatial kinematics
Chasless theorem
Planar
3 freedoms
Spherical
3 freedoms
Screws
Cones
Kinematic
constraint
equations
Cylindrical
2 freedoms
Revolute
1 freedom
General form
Mobility, Grbler
Grblers formula
Prismatic
1 freedom
Helical
1 freedom
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics
mobility of a mechanism: DOFs

with one link fixed.
Eulers theorem
Spatial kinematics
Chasless theorem
connectivity DOFs of one link

relative to another.
What is the mobility of the five bar
linkage at right?
What is the connectivity of
I
Link 1 relative to link two?
Link 3 relative to link 1?
Screws
Cones
L4
L3
Kinematic
constraint
equations
General form
L2
L1
L5
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics

Eulers theorem
Spatial kinematics
Chasless theorem

linkage at right? Two.
I
Screws
Cones
L4
L3
Kinematic
constraint
equations
General form
L2
L1
L5
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics

Eulers theorem
Spatial kinematics
Chasless theorem

I

One.
Screws
Cones
L4
L3
Kinematic
constraint
equations
General form
L2
L1
L5
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics

Eulers theorem
Spatial kinematics
Chasless theorem

I

One.
Link 3 relative to link 1? Two.
Screws
Cones
L4
L3
Kinematic
constraint
equations
General form
L2
L1
L5
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Spherical
kinematics

Eulers theorem
Spatial kinematics
Chasless theorem

I

One.
Link 3 relative to link 1? Two.
Link 3 relative to link 4? One.
Screws
Cones
L4
L3
Kinematic
constraint
equations
General form
L2
L1
L5
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Grblers formula
Given n links joined by g joints,
with ui constraints and fi freedoms at joint i. (Note that
ui + fi = 6.)
Assume one link is fixed and constraints are all
independent.
Spherical
kinematics
Eulers theorem
Spatial kinematics
Chasless theorem
Screws
Cones
Kinematic
constraint
The mobility M is
M = 6(n 1)
= 6(n 1)

equations
ui
General form
(6 fi )
X
= 6(n g 1) +
fi
Or, for a planar mechanism:
M = 3(n 1)
= 3(n g 1) +
ui
X
fi
Mobility, Grbler
Grblers formula
Grbler: special case for loops
Lecture 4.
Spatial Kinematics.
Constraint.
The previous formula works (sort of) for all mechanisms.

For loops there is a variant.
Spherical
kinematics
One loop: n = g, so
Spatial kinematics
Eulers theorem
M=
fi + 6(1)
Chasless theorem
Screws
Cones
Two loops: make a second loop by adding k links and

k + 1 joints:
X
M=
fi + 6(2)
Kinematic
constraint
equations
General form
Mobility, Grbler
Every loop increases excess of joints over links by 1. For

l loops:
X
M=
fi 6l
for a spatial linkage, and
M=
for a planar linkage.
fi 3l

Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
Example: what is the mobility of Watts
linkage?
Spherical
kinematics
Eulers theorem
Planar Grblers formula:

X
M = 3(n 1)
ui =
X
M = 3(n g 1) +
fi =
X
M=
fi 3l =
Spatial Grblers formula:
X
M = 6(n 1)
ui =
X
M = 6(n g 1) +
fi =
X
M=
fi 6l =
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
linkage?
Spherical
kinematics
Eulers theorem

X
M = 3(n 1)
ui = 1
X
M = 3(n g 1) +
fi =
X
M=
fi 3l =
X
M = 6(n 1)
ui =
X
M = 6(n g 1) +
fi =
X
M=
fi 6l =
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
linkage?
Spherical
kinematics
Eulers theorem

X
M = 3(n 1)
ui = 1
X
M = 3(n g 1) +
fi = 1
X
M=
fi 3l =
X
M = 6(n 1)
ui =
X
M = 6(n g 1) +
fi =
X
M=
fi 6l =
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
linkage?
Spherical
kinematics
Eulers theorem

X
M = 3(n 1)
ui = 1
X
M = 3(n g 1) +
fi = 1
X
M=
fi 3l = 1
X
M = 6(n 1)
ui =
X
M = 6(n g 1) +
fi =
X
M=
fi 6l =
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
linkage?
Spherical
kinematics
Eulers theorem

X
M = 3(n 1)
ui = 1
X
M = 3(n g 1) +
fi = 1
X
M=
fi 3l = 1
X
M = 6(n 1)
ui = 2
X
M = 6(n g 1) +
fi =
X
M=
fi 6l =
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
linkage?
Spherical
kinematics
Eulers theorem

X
M = 3(n 1)
ui = 1
X
M = 3(n g 1) +
fi = 1
X
M=
fi 3l = 1
X
M = 6(n 1)
ui = 2
X
M = 6(n g 1) +
fi = 2
X
M=
fi 6l =
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula
Lecture 4.
Spatial Kinematics.
Constraint.
Common sense
linkage?
Spherical
kinematics
Eulers theorem

X
M = 3(n 1)
ui = 1
X
M = 3(n g 1) +
fi = 1
X
M=
fi 3l = 1
X
M = 6(n 1)
ui = 2
X
M = 6(n g 1) +
fi = 2
X
M=
fi 6l = 2
Why?
Spatial kinematics
Chasless theorem
Screws
5
Cones
3
5
10
Kinematic
constraint
equations
General form
Independent
constraints is
a very strong
assumption.
Mobility, Grbler
Grblers formula

Lecture 4 - Spatial Kinematics

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Lecture 4 - Spatial Kinematics

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Lecture 4.

Counting variables and

About spherical kinematics

Why study motions of the sphere? Because it

Two not-antipodal points enough

A displacement of the sphere is completely determined

Define C to be either intersection of

Let R be the rotation mapping A to

Show R maps B to B 0 , so R is the

Counting variables and

Mobility and connectivity

We seem to live in a three-dimensional space.

What do we want to know? Lets review the plane

We seem to live in a three-dimensional space.

What do we want to know? Lets review the plane

Review of displacements: planar

. . . displacements that are neither?

SE(2): Displacements of the Euclidean plane

Review of displacements: planar

. . . displacements that are neither?

SE(2): Displacements of the Euclidean plane

Review of displacements: planar

. . . displacements that are neither?

SE(2): Displacements of the Euclidean plane

Review of displacements: planar

SE(2): Displacements of the Euclidean plane

Review of displacements: planar

SE(2): Displacements of the Euclidean plane

Review of displacements: spherical

SO(3): Displacements of the sphere

Review of displacements: spherical

SO(3): Displacements of the sphere

Review of displacements: spherical

SO(3): Displacements of the sphere

Review of displacements: spherical

SO(3): Displacements of the sphere

Review of displacements: spherical

SO(3): Displacements of the sphere

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

A twist is a rotation about a line,

Does a twist have a fixed point?

Does a twist move all points along

A twist is a rotation about a line,

Does a twist have a fixed point?

A twist is a rotation about a line,

Does a twist have a fixed point?

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Preview of spatial displacements

SE(3): Displacements of Euclidean three space

Assume arbitrary displacement D is given.