Geometric Fundamentals of Robotics

Key features:

* Begins with a brief survey of basic notions in algebraic and differential geometry, Lie groups and Lie algebras

* Examines how, in a new chapter, Clifford algebra is relevant to robot kinematics and Euclidean geometry in 3D

* Introduces mathematical concepts and methods using examples from robotics

* Solves substantial problems in the design and control of robots via new methods

* Provides solutions to well-known enumerative problems in robot kinematics using intersection theory on the group of rigid body motions

* Extends dynamics, in another new chapter, to robots with end-effector constraints, which lead to equations of motion for parallel manipulators

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.