Publisher: Cambridge University Press.
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.

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