Instantaneous axis of helical motion of a rigid body

Abstract

This study investigates the state of the instantaneous screw axis (ISA) during the motion of a rigid body. It
also introduces a method for altering the representation of rigid body motion. The paper demonstrates how
translational and rotational motion parameters of a rigid body can be expressed as functions of the invariants
of instantaneous screw motion (ISM). By using these invariants, a more generalized and compact formulation
of rigid body motion is achieved. The approach helps to describe complex motion behaviors with greater
clarity and mathematical efficiency. This framework is applicable to a wide range of mechanical and robotic
systems, offering improved insight into motion analysis and control through ISM-based modeling techniques.