Introduction to Theoretical Kinematics
by J. Michael McCarthy
iBook (available on iTunes)
An introduction to the mathematics used to model the movement of mechanisms, machines, robots and human and animal skeletons. Matrix forms of planar displacements, spatial rotations and spatial displacements are used to construct the structure equations of a linkage system. The invariants of these transformations combine with Clifford algebras to yield constraint manifolds that characterize the workspace of these mechanical systems.