This paper reports an application of the Lie algebra se(3) of the Euclidean group SE(3). which is isomorphic to the theory of screws in the velocity and acceleration analyses of serial manipulators. The symbolic computation of the infinitesimal kinematics allows one to obtain algebraic expressions related to the kinematic characteristics of the end effector of the serial manipulator. ... https://www.kwangleetkd.com/product-category/cakes/