**Textbook Title:** Mathematical Introduction to Robotic Manipulation

**Textbook Description:**

This free etextbook covers a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. The textbook presents a concise set of mathematical tools which emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed in a unified framework. The textbook contains many examples and exercises suitable for a student in an advanced course in robotics, or may be used as a reference for robotics researchers. Previous exposure to robotics and a basic knowledge of linear algebra and advanced calculus is assumed.

**Author:** Richard M. Murray, Zexiang Li, S. Shankar Sastry

**Subjects:** Computer Science, Mathematics

**Key words:** Computer Science, Mathematics, Robotic Manipulation, Artificial Intelligence

**Download URL:** http://www.cds.caltech.edu/~murray/mlswiki/?title=First_edition