Selig, J. M. <br/><br/>
Geometric fundamentals of robotics / 
J. M. Selig 
 - 2nd ed. 
 - New York:  Springer,   2005 
 - xv, 398 p.:   ill.;   24 cm. 
<br/><br/>Includes bibliographical references (p. [373]-381] and index 
<br/><br/><label>ISBN: </label>0387208747 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics<br/>Geometry<br/>Lie groups