Multi-Body Kinematics and Dynamics with Lie Groups

Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems.The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in...