books.google.com - A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to...https://books.google.com/books/about/A_Mathematical_Introduction_to_Robotic_M.html?id=D_PqGKRo7oIC&q=torques&utm_source=gb-gplus-shareA Mathematical Introduction to Robotic Manipulation

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