Computational Kinematics

by Jorge Angeles

This volume provides a state of the art account of developments in computational kinematics. Included are both numerical computations and symbolic manipulations. The volume reports on trends and progress in a broad class of problems, and the information is collated logically into six parts describing the main themes: (i) kinematic algorithms, whereby general kinematic problems are discussed in light of their solution algorithms; (ii) redundant manipulators; (iii) kinematic and dynamic control in which the link between kinematics and the disciplines of dynamics and control is highlighted; (iv) parallel manipulators; (v) motion planning, touching on computational geometry; (vi) kinematics of mechanisms describing the closed kinematic chains. The volume contains a representative sample of the most modern techniques available for kinematics problems, including some novel techniques described for the first time in a book. It will be of interest to researchers, graduate students and practising engineers engaged in work relating to kinematics, robotics, machine design and computer science.

324 pages, Paperback

First published September 28, 1993