This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in b

A general approach to the derivation of equations of motion of as holonomic, as nonholonomic systems with the constraints of any order is suggested. The system

This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in b

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as couplin