Introduced in this paper is a novel approach that leads to efficient algorithms for computing the screw parameters of rigid-body motions. This is based on invariants associated with the said motions. Finitely-separated positions are treated in this paper, infinitesimally-separated positions being the subject of an accompanying paper. The algorithms presented in both papers are meant for the real-time computation of the aforementioned parameters.
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Jorge Angeles (1986) studied this question.