A Treatise on the Theory of Screws.

Robert Ball has published what seems to be the first theory on screws that we use nowadays to solve many robotics problems. Here is a link to a scan of the original book:

http://digital.library.cornell.edu/cgi/t/text/text-idx?c=math;idno=03000001

Here is the reference:

Ball, R. S. 1900. A Treatise on the Theory of Screws. Cambridge: Cambridge University Press.

This scanned document is provided by the Cornell University on a very valuable webpage called Historical Math Monographs.

This initiative is helping anyone to have access to the world's knowledge and heritage since the document being in the free domain is made available for free.

I wish you good readings.


Luc Rolland