 Modern Robotics: Mechanics, Planning, and Control by Kevin M. Lynch and Frank C. Park

By Kevin M. Lynch, Frank C. Park.

Publisher: Cambridge University Press.

Online text: hades.mech.northwestern.edu/images/2/25/MR-v2.pdf

Cited passages: Modern Robotics, §3.2.1, definition 3.1 and propositions 3.3–3.6, preprint pp. 67–69; Modern Robotics, §3.2.1.1, propositions 3.4–3.5, preprint p. 69: closure and the distinction between planar and spatial composition; Modern Robotics, §3.2.1.2, preprint p. 69: three uses of a rotation matrix; Modern Robotics, §3.2.1.2, preprint pp. 72–73: premultiplication uses fixed-frame axes; postmultiplication uses body-frame axes.