Selig, J. M. <br/><br/>
Geometric fundamentals of robotics / 
J.M. Selig 
 - 2nd ed. 
 - New York :  Springer,  2005 
 - xv, 398 p. :  ill. ;  24 cm. 
 - Monographs in computer science .
<br/><br/> Rev. ed. of: Geometrical methods in robotics. 1996 
<br/><br/>Includes bibliographical references and index 
<br/><br/><label>ISBN: </label>0387208747 (hbk.)  RM275.77 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics<br/>Geometry<br/>Lie groups