Table of Contents

From the Preface

This brief is a pedagogical presentation of key elements of Geometric Algebra (GA) and a selected sample of research areas in which it is being profitably applied. In spite of its brevity, it is remarkably comprehensive and self-contained. Its contents is designed to be particularly useful to advanced undergraduate students, beginning graduate students, and professionals wishing to understand what are the essential lineaments of GA and how it is effectively used to frame scientific theories and engineering models.

On the applied side, we cover topics in Physics, Robotics and Molecular Geometry. In more detail, the main themes are the geometry and physics of Minkowski’s space-time, including Maxwell’s electromagnetism and Dirac’s equation (Chapter 3), robot forward and inverse kinematics, including an overview of the singularity problem for serial robots (Chapter 4), and protein structure calculations using nuclear magnetic ressonance data (Chapter 5).