Lie Group Formulation For Robot Mechanics

This is a brief summary of Lie group formulation for robot mechanics. For more details, please refer to the articles.

"A first course in robot mechanics", Frank C. Park.
http://robotics.snu.ac.kr/fcp/files/_pdf_files_publications/a_first_coruse_in_robot_mechanics.pdf

"Lie group formulation of articulated body dynamics", Junggon Kim.
http://www.cs.cmu.edu/~junggon/tools/liegroupdynamics.pdf

Lie Group Formulation for Robot Mechanics from Terry Taewoong Um

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