The trends and progress attained in computational kinematics over a broad class of problems are grouped into six parts describing the main themes: kinematics algorithms, discussing kinematics problems in light of their solution algorithms; kinematics of mechanisms, studying problems related to specific mechanisms; singularities; workspace, discussing the determination of the workspace of given mechanisms; parallel manipulators; motion and grasp planning, touching on computational geometry. The volume contains a representative sample of the most modern techniques available for kinetics problems, including techniques based on recent advances in algebraic geometry.
Audience: Researchers, graduate students and practising engineers in work relating to kinematics, robotics, machine design and computer science.

Zusammenfassung
Covering six main themes of computational kinematics, such as kinematics algorithms and parallel manipulators, this volume contains a representative sample of the most modern techniques available for kinetics problems, including techniques based on advances in algebraic geometry.

Inhalt

Preface. 1. Kinematics algorithms. 2. Kinematics of mechanisms. 3. Singularities. 4. Workspace. 5. Parallel manipulators. 6. Motion and grasp planning.