J. M. Selig Book order

Geometric Fundamentals of Robotics offers a comprehensive introduction to essential geometric concepts in robotics. The second edition emphasizes a deep understanding of the subject, linking robotics to group theory and geometry. It's suitable for graduate students and researchers in mechanical engineering, computer science, and applied mathematics.

Covering algebriac and differential geometry, the concept of Lie groups, and the relation of Lie groups to planar kinematics, line geometry and representation theory, this work deals with the application of these geometrical methods to robotics, in the areas of statics, dynamics, gripping solid objects, posture and screw systems.