Computational Kinematics

A state-of-the-art account of developments in computational kinematics, including both numerical computations and symbolic manipulations. The volume reports on trends and progress in a broad class of problems, and is divided into six sections: kinematic algorithms, whereby general kinematic problems are discussed in light of their solution algorithms; redundant manipulators; kinematic and dynamic control, in which the link between kinematics and the disciplines of dynamics and control is highlighted; parallel manipulators; motion planning, touching on computational geometry; and kinematics of mechanisms, describing the closed kinematic chains.