Geometric Fundamentals of Robotics provides an elegant introduction to thegeometric concepts that are important to applications in robotics. This secondedition ... » 

Geometric Fundamentals of Robotics provides an elegant introduction to thegeometric concepts that are important to applications in robotics. This secondedition is still unique in providing a deep understanding of the subjectrather than focusing on computational results in kinematics and robotics itincludes significant stateoftheart material that reflects important advancesin the field connecting robotics back to mathematical fundamentals in grouptheory and geometry. Geometric Fundamentals of Robotics serves a wide audienceof graduate students as well as researchers in a variety of areas notablymechanical engineering computer science and applied mathematics. It is alsoan invaluable reference text. TOCPreface. Introduction. Lie Groups.Subgroups. Lie Algebra. A Little Kinematics. Line Geometry. RepresentationTheory. Screw Systems. Clifford Algebra. A Little More Kinematics. TheStudy Quadric. Statics. Dynamics. Constrained Dynamics. DifferentialGeometry. References. Index. «