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A Mathematical Introduction to Robotic Manipulation
Richard M. Murray, Zexiang Li and S. Shankar Sastry

Welcome to MLSwiki. This is the wiki for the text A Mathematical Introduction to Robotic Manipulation by Richard Murray, Zexiang Li and Shankar Sastry. On this site you will find information on the current version of the book as well as additional examples, exercises, and frequently asked questions (coming soon).

This site is currently under construction and some links may not be functional.

News (archive)
  • 20 Jan 2020: The publisher has decided that the PDF for this book can no longer be made available online.
  • 22 Jul 09: Chapter pages are getting set up (with summaries)
  • 25 Jun 09: The first edition PDF is now available online (with permission of the publisher)
  • 12 Jun 09: initial wiki creation