Geometric Fundamentals of Robotics...
Geometric Computing for Perception Action Systems: Concepts, Algorithms, and Scientific Applications (Hardcover). This is the only book I have so far come across that has a reasonable explanation of 'motors' and why it is useful to use 4D Geometric algebra to represent kinematics of solid bodies (in chapter 2). The book is quite a slim volume considering that it covers both fundamental concepts and practical applications. Therefore I think you will need to have a good understanding of Geometric Algebra before starting on this book.
Geometric Algebra for Computer Science: An Objectoriented Approach to Geometry. This book stresses the Geometry in Geometric Algebra, although it is still very mathematically orientated. Programmers using this book will need to have a lot of mathematical knowledge. Its good to have a Geometric Algebra book aimed at computer scientists rather than physicists. There is more information about this book here. 
Algebraic Geometry and Geometric Modeling: Proceedings of the Conference in Nice, September 04 (Mathematics & Visualization) (Hardcover).
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