Great videos!

http://see.stanford.edu/see/lecturelist.aspx?coll=86cc8662-f6e4-43c3-a1be-b30d1d179743

Denavit–Hartenberg parameters

http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

Plucker

http://en.wikipedia.org/wiki/Pl%C3%BCcker_coordinates

Cross Product

Dot Product

4 by 4 Rotation matrix

http://www.cprogramming.com/tutorial/3d/rotationMatrices.html

http://see.stanford.edu/player/SEEslplayer.aspx?coll=86cc8662-f6e4-43c3-a1be-b30d1d179743&co=3968239d-b37f-4a92-a035-79ec6a2afa9b&sl=true

http://see.stanford.edu/materials/aiircs223a/handout2_Kinematics-1.pdf

http://see.stanford.edu/materials/aiircs223a/handout3_Kinematics-2.pdf

Euler rotation theorem

http://vectoralgebra.info/axisangle.html

The axis-angle representation is equivalent to the more concise rotation vector, or Euler-Rodrigues vector representation. In this case, both the axis and the angle are represented by a non-normalized vector codirectional with the axis whose magnitude is the rotation angle. From an orientation matrix R the Axis-Angle parameters can be calculated as:

It is equivalent to the Euler-Rodrigues vector representation, where the vector v is defined as the product e = theta.u

For a Rotation matrix:

http://en.wikipedia.org/wiki/Rotation_matrix

https://docs.google.com/spreadsheet/gform?key=0Aur1N9cLJ1MtdFRRVXZVei1BZmVzR0VjMVlKTlduYnc&hl=en