- #1

Avatrin

- 245

- 6

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.