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Geometric Fundamentals of Robotics

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Geometric Fundamentals of Robotics
Springer-Verlag New York

Table of Contents

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    Book Overview
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    Chapter 1 Introduction
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    Chapter 2 Lie Groups
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    Chapter 3 Subgroups
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    Chapter 4 Lie Algebra
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    Chapter 5 A Little Kinematics
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    Chapter 6 Line Geometry
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    Chapter 7 Representation Theory
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    Chapter 8 Screw Systems
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    Chapter 9 Clifford Algebra
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    Chapter 10 A Little More Kinematics
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    Chapter 11 The Study Quadric
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    Chapter 12 Statics
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    Chapter 13 Dynamics
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    Chapter 14 Constrained Dynamics
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    Chapter 15 Differential Geometry
Attention for Chapter 14: Constrained Dynamics
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