At the beginning of chapter 4, we stated that Ball’s instantaneous screws are rays through the origin in the Lie algebra se(3). Clifford referred to the elements of the Lie algebra as motors. In the following, the practice of referring to Lie algebra elements as screws will continue, with the hope that no confusion will arise.
KeywordsNormal Form Isotropy Group Discrete Symmetry Rigid Transformation Reciprocal System
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