Online Links for Linear Algebra

• http://www.math.unl.edu/~tshores/linalgtext.html
• http://hverrill.net/pages~helena/linalg/linalg.html
• http://www.numbertheory.org/book/
• http://www.millersv.edu/~bikenaga/linalg/linanote.html
• Online Book link : ftp://joshua.smcvt.edu/pub/hefferon/book/book.pdf

Online Links for Cartesian Frames

• www.ece.ubc.ca/~leei/478/03transform.pdf -- course notes from UBC Course
• PDF] Introduction to Homogeneous Transformations & Robot Kinematics
• UC Davis online computer graphics notes:

• PDF] COORDINATE CONVERSION BETWEEN THE CARTESIAN FRAME AND AN ARBITRARY ...
•  http://graphics.idav.ucdavis.edu/education/GraphicsNotes/Frame-to-Cartesian-Frame/Frame-to-Cartesian-Frame.html -- from graphics course

• http://prt.fernuni-hagen.de/lehre/KURSE/PRT001/course_main/node5.html - general description of transformations from kinematics course
• http://ieeexplore.ieee.org/iel2/3093/8734/00385031.pdf?arnumber=385031#search=%22robotics%20frame%20transformations%22 -- paper on quaterions for frame transformations

New CIS Library Resource

http://cisstweb.cs.jhu.edu/resources/software/cisst/

Others

Arun K et al paper