Line-Symmetric Motion Generators

A class of line-symmetric motion generators is synthesized here for the first time. Line-symmetric motions comprise motions of a axial-symmetric object from an initial to a target configuration, by screwing along the common perpendicular of the initial and the goal axis, without incurring self spin or sliding of the object about and along its own axis. These motions have application in several robot mechanism synthesis for line-symmetric manipulation tasks, e.g., minimal invasive surgery robots and haptic interfaces.

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