Algebraic computation of the twist of a rigid body through direct measurements Original Research Article

The aim of the paper is to present a procedure for the automatic computation of the twist of a rigid body and of its derivative with respect to time. This procedure is done through direct measurements, based on the velocities and accelerations of three non-collinear points of the rigid body. Firstly, the case of a rigid body in spherical motion is considered. Next, the case of the general motion is studied. Two algorithms for the algebraic computation of the twist of a rigid body and its derivative are further presented. Finally, an example is delivered.