Check out this gem of a book on screw theory, geometric algebra and robotics. I keep it on my desk it's so useful. Geometric Fundamentals of Robotics - by J.M.

Check out this gem of a book on screw theory, geometric algebra and robotics. I keep it on my desk it's so useful. Geometric Fundamentals of Robotics - by J.M. Selig 1996, 2005 2nd Edition