Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 74

Rigid body motions and the groups SO(n) and SE(n) are often addressed in mathematics books on the topic of linear algebra. Standard texts for this material include [9], [30], and [49]. These topics are also often covered in applied mathematics texts for physics and engineering, such as [143], [155], and [182]. In addition to these, a detailed treatment of rigid body motion developed with the aid of exponential coordinates and Lie groups is given in [118].