Any Notes that help me to understand lie algebra ?

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Catherine Bidard

The book "A Mathematical Introduction to Robotic Manipulation" by Li, Lurray and Sastry is a reference. it includes chapters on non-holonomic behavior and motion planning with controllability issues.

Avinash Siravuru

Check these books:

1) Geometric Fundamentals of Robotics - J Selig ( Provides the most comprehensive treatment of this subject)

2) A Mathematical Introduction to Robotic Manipulation - Murray, Li , Sastry ( an awesome book! Provides ample understanding of lie algebra)

Harry G Kwatny

You may want to check out these notes

http://www.pages.drexel.edu/~hgk22/courses/MEM636_638/MEM636_638.htm

especially Lectures 2 and 3.

Yashavant Patel

Please see the attachment, which describes the dual number basic concepts.