[Darwin2k-users] Theoretic background

[Mateusz G. <pol...@wp...>]

On the Internet is plenty small application for calculations robots
parameters but most of them are low level (basic calculation: some m
file for Matlab) or not developed (authors worked on it only short
period of time). 
 
Darwin is probably one of the best. 
 
I have a question about background of this. I know a couple books but I
suppose authors really don't know much about practice. I would like to
know where can I find good (that's mean useful) description of
kinematics and dynamic for robots (manipulators). Is there any ware
description of background patterns, matrix... used in Darwin? 
 
See you 
 
Mat