Robots and Screw Theory: Applications of Kinematics and Statics to Robotics (Hardcover) - This is about the mechanics of robot arms such as those used such as those used in factory automation. Assumes a good knowledge of mechanics but the concepts of robot arms and screw theory are introduced gradually. The maths used is fairly conventional: scalars, vectors and matrices. Dual quaternions (or biquaternions as they call them) are only mentioned briefly.
Robot Dynamics Algorithms (Kluwer International Series in Engineering and Computer Science, 22)