Geometry and Screw Theory for Robotics
by Stefano Stramigioli, Herman Bruyninckx
Publisher: Universita di Verona 2001
Number of pages: 75
Contents: Motion of a Rigid Body; Serial kinematic chain (Configuration kinematics, Differential kinematics of serial chains, Dynamics of serial chains); Interaction and Control; Projective geometry and kinematic; Introduction to Lie groups.
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