My book on "Geometry, Kinematics, and Dynamics for Robotics"

I am currently working on a book titled “Geometry, Kinematics, and Dynamics for Robotics”, and this page provides access to a working draft of the book. This work aims at being a concise yet detailed summary of fundamental concepts pertaining to dynamics that are often prerequisites in robotics but are not usually covered in depth in typical textbooks. It is my hope that this book can serve as a convenient reference for students entering the field of robotics. Note that a french translation of the book will be available soon. If you spot any mistakes, please send me an email to let me know. If you want to access a full-screen version, click here.

For now, if you want to cite this work, you can use the following BibTeX entry:

@book{nadeau_gkdr,
  title={Geometry, Kinematics, and Dynamics for Robotics},
  author={Nadeau, Philippe},
  year={2025},
  publisher={Self-published},
  url={https://philna.de/au-is/gkdr}
}