Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigi
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English Pages xvii, 315 pages : illustrations ; 24 cm Year 2018;2017
Table of contents :
1. The Displacement Group as a Lie Group 2. Dual Numbers and "Dual Vectors" in Kinematics 3. The "Transference Principle" 4. Kinematics of a Rigid Body and Rigid Body Systems 5. Kinematics of Open Chains, Singularities 6. Closed Kinematic Chains: Mechanisms Theory 7. Dynamics 8. Dynamics of Rigid Body Systems