STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms
Keerthi Sagar,Vishal Ramadoss,Dimiter Zlatanov,Matteo Zoppi,Keerthi Sagar,Vishal Ramadoss,Dimiter Zlatanov,Matteo Zoppi
Screw theory is a powerful mathematical tool for the kinematic analysis of mechanisms and has become a cornerstone of modern kinematics. Although screw theory has rooted itself as a core concept, there is a lack of generic software tools for visualization of the geometric pattern of the screw elements. This paper presents STORM, an educational and research oriented framework for analysis and visua...
