Modern Robotics: Mechanics, Planning, and Control by Kevin M. Lynch and Frank C. Park Created 2026-10-13 Updated 2026-11-05
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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.
Author video supplement: modernrobotics.northwestern.edu/nu-gm-book-resource/4-1-1-product-of-exponentials-formula-in-the-space-frame/ . Section4.1.1 develops forward kinematics and the end-effector frame through the product-of-exponentials representation.
Author video supplement: modernrobotics.northwestern.edu/nu-gm-book-resource/3-4-wrenches/ . Section 3.4, Wrenches, transcript: six-vector moment/force representation, changes of reference frame, and the frame-independent power pairing of a wrench with a rigid-body twist.
Additional author video supplement: modernrobotics.northwestern.edu/nu-gm-book-resource/3-3-2-twists-part-1-of-2/ . Section 3.3.2, Twists (Part 1 of 2), defines the ordered angular/linear six-vector, origin dependence of its linear component, normalized screw axis and pitch, and the distinct body/space reference-frame representations. The wiki's numerical twist example and velocity-field derivation are independent calculations.
§3.2.3, Exponential Coordinates of Rotation, Part 2: unit-axis rotation, matrix exponential and Rodrigues formula. The axis-direction uncertainty bound in the current article is derived explicitly rather than attributed to this source.
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