Elsevier Multi-Body Kinematics and Dynamics with Lie Groups

Multi-Body Kinematics and Dynamics with Lie Groups by Elsevier provides a deep exploration of Lie groups applied to the kinematics and dynamics of rigid body systems. This technical text begins by revealing the formal properties of Lie groups through rotation and Euclidean displacement groups. Readers will gain a clear understanding of the algebraic properties of the displacement group and why dual numbers are essential to kinematics within screw theory. The text uses these mathematical tools to explain the kinematics of rigid body systems, with a specific focus on the kinematics of both open and closed kinematical chains. This book serves as a specialized resource for understanding the mathematical foundations required for advanced rigid body analysis.