Hello,
I am an expert in kinematics applied to robotics. I also have good knowledge of differential geometry. Currently, I am a PhD student in robotics, I work with formal methods for the description of manipulation tasks. The work is heavily based in 3D geometry and kinematics. Please send me more details about your project. I will be available to start working on Monday, for about three hours per day.
Thank you for your attention.
Best regards,
Ernesto Lana