Ebook Download | Theory of Applied Robotics: Kinematics, Dynamics, and Control | This book proved to be very useful in understanding the subject of orientation kinematics and DCM matrix. It helped me write a little tutorial on my blog (google: starlino dcm ) that contain some notes and my own view on the subject. This book is really easy to follow, just make sure you read the introduction that covers the notation conventions.downloadebookhere.blogspot.com
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