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Robot Modeling and Control

A good introduction to many concepts of model-based robotics.

A comprehensive collection of the best rigid-body dynamics algorithms.

A good mathematical introduction to various robotics concepts (includes Lie groups and screw theoretic description).

Geometric foundations of Robotics (demonstrates links to Lie Algebra, Study Quadric, Clifford Algebra etc.).

Comprehensive textbook on multibody dynamics algorithms using Spatial Operator Algebra (SOA).

Numerical Computation and Optimization

An excellent introduction of the theory and concepts of optimization as well as some important classes of algorithm with numerous practical exemples from various fields.

A comprehensive and up-to-date description of the most effective methods in continuous optimization, striking a good balance between theory and pratical implementation considerations. A must have for those wanting to implement their own solvers.

A more advance and mathematically involved book, tackling the problem of optimization on non-Euclidean manifolds, which is getting some attention in robotics.

Applied Optimization

This book addresses modern nonlinear programming (NLP) concepts and algorithms, especially as they apply to challenging applications in chemical process engineering. The author provides a firm grounding in fundamental NLP properties and algorithms, and relates them to real-world problem classes in process optimization, thus making the material understandable and useful to chemical engineers and experts in mathematical optimization.

The book describes how sparse optimization methods can be combined with discretization techniques for differential-algebraic equations and used to solve optimal control and estimation problems. The interaction between optimization and integration is emphasized throughout the book.