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math.AG2020
Polynomial Invariants and SAGBI Bases for Multi-screws
Deborah Crook, Peter Donelan
Polynomial invariants for robot manipulators and their joints arise from the adjoint action of the Euclidean group on its Lie algebra, the space of infinitesimal twists or screws.…
math.AG2015
Invariants of the -fold adjoint action of the Euclidean group
Mohammed Daher, Peter Donelan
A non-zero element of the Lie algebra of the special Euclidean spatial isometry group is known as a {\em twist} and the corresponding element of the proj…