# Difference between revisions of "Lie Groups and Robot Kinematics"

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{{chapter header|Future Directions|Lie Groups and Robot Kinematics|Bibliography}} | {{chapter header|Future Directions|Lie Groups and Robot Kinematics|Bibliography}} | ||

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+ | Readers familiar with differential geometry will have observed that | ||

+ | most of the analytic tools we use in this text are derived from Lie | ||

+ | group theory and Riemannian geometry. In this appendix, we give a | ||

+ | brief introduction to the basics of Lie group theory and its | ||

+ | connections with rigid body kinematics. | ||

+ | |||

+ | == Additional Information == |

## Latest revision as of 03:02, 25 July 2009

Prev: Future Directions | App A - Lie Groups and Robot Kinematics |
Next: Bibliography |

Readers familiar with differential geometry will have observed that most of the analytic tools we use in this text are derived from Lie group theory and Riemannian geometry. In this appendix, we give a brief introduction to the basics of Lie group theory and its connections with rigid body kinematics.