Download or read book Geometrical Methods in Robotics written by J. M. Selig and published by Springer Science & Business Media. This book was released on 1996 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: Subsequent chapters develop the structure of Lie groups and how these relate to planar kinematics, line geometry, representation theory, and other topics. Having provided the conceptual framework, the author then demonstrates the power and elegance of these methods to robotics, notably to the statics and dynamics of robots, to the problems of gripping solid objects, to the numbers of postures of robots, and to screw systems.