Elsevier Multi-Body Kinematics and Dynamics with Lie Groups

Multi-Body Kinematics and Dynamics with Lie Groups by Elsevier provides a deep look into the application of Lie groups within rigid body systems. This technical text is designed for readers needing a formal understanding of rotation and Euclidean displacement groups. By exploring the specific algebraic properties of displacement groups, the book explains the fundamental role of dual numbers in kinematics, specifically within screw theory. The content transitions from theoretical mathematical tools to practical applications, covering the kinematics of rigid body systems. Readers will gain insight into the kinematics of open and closed mechanisms through structured chapters. This book serves as a specialized reference for those studying the mathematical foundations of movement and mechanical systems.