Abstract
This chapter presents fundamental concepts, expressions, operations, and properties of FIS theory. Firstly, the finite screw in quasi-vector form and its composition operation, i.e., the screw triangle product, is derived from dual quaternion for the first time.
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References
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Sun, T., Yang, S., Lian, B. (2020). Finite and Instantaneous Screw Theory. In: Finite and Instantaneous Screw Theory in Robotic Mechanism. Springer Tracts in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1944-4_2
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DOI: https://doi.org/10.1007/978-981-15-1944-4_2
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