**A Mathematical Introduction to Robotic Manipulation**

by Richard M. Murray, Zexiang Li, S. Shankar Sastry

**Publisher**: CRC Press 1994**ISBN/ASIN**: 0849379814**Number of pages**: 474

**Description**:

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework.

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