Need book recommendation to learn kinematics and kinetics

[Avatrin]

Hi

I am trying to learn kinetics and kinematics:

Euler angles
Directional cosine matrices
Quaternions
Inertia tensors
The usage of Jacobians in robotics
Manipulator kinematics
Eulers equations
Newton-Euler equations
etc

My background is in mathematics, so I would like a book which takes a mathematical approach to these subjects. It does not have to assume that I am familiar with the mathematics needed (I am quite comfortable with linear algebra, although I haven't really used it for a long while for problems like these).

I would like to learn this to makes simple simulations of robotic arms and spacecraft in PyProcessing. So, it would be great if the book recommendations also goes through examples of how to use the subjects mentioned above in numerical simulations.

 

[vanhees71]

There's no kinetics listed above. For a mathematician, I guess a very good book on Newtonian mechanics is

V. I. Arnold Mathematical Methods of Classical Mechanics, Springer (1991)

I've no idea about specific textbooks about robotics.

For kinetics, the best intro is

Landau, Lifshitz, vol. 10, Physical Kinetics