Lie Groups and Lie Algebras
- A mathematical introduction to Robotic Manipulation by Richard M. Murray, Zexiang Li and S. Shankar Sastry:
- Wiki
- First edition of their book
- Set of slides on Robot Dynamics and Control (by Z.X. Li and Y.Q.Wu)
- A great explanation of octonions:
- http://math.ucr.edu/home/baez/octonions/
Manipulation and Dynamics
- Carnegie Mellon University Course in Mechanics of Manipulation