Geometric fundamentals of robotics

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.