TY  - BOOK
AU  - Selig,J.M.
TI  - Geometric fundamentals of robotics
SN  - 0387208747 (acidfree paper)
AV  - TJ211 .S433 2005
PY  - 2005///
CY  - New York
PB  - Springer
KW  - Robotics
KW  - Geometry
KW  - Lie groups
N1  - Rev. ed. of: Geometrical methods in robotics. c1996; Includes bibliographical references and index; Preface.- Introduction.- Lie Groups.- Subgroups.- Lie Algebra.- A Little Kinematics.- Line Geometry.- Representation Theory.- Screw Systems.- Clifford Algebra.- A Little More Kinematics.- The Study Quadric.- Statics.- Dynamics.- Constrained Dynamics.- Differential Geometry.- References.- Index
N2  - Geometric Fundamentals of Robotics provides an elegant introduction to the geometric concepts that are important to applications in robotics. This second edition is still unique in providing a deep understanding of the subject: rather than focusing on computational results in kinematics and robotics, it includes significant state-of-the-art material that reflects important advances in the field, connecting robotics back to mathematical fundamentals in group theory and geometry.Geometric Fundamentals of Robotics serves a wide audience of graduate students as well as researchers in a variety of areas, notably mechanical engineering, computer science, and applied mathematics. It is also an invaluable reference text
ER  -