A Mathematical Introduction to Robotic Manipulation - Richard M. Murray, Zexiang Li, S. Shankar Sastry, S. Shankara Sastry - Google Books

http://books.google.de/books?id=D_PqGKRo7oIC&printsec=frontcover

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…