Advances in Robot Kinematics: Analysis and Control

The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. Presenting recent advances in the area of kinematics of robots and mechanisms, this text consists of about fifty outstanding contributions dedicated to various aspects of kinematic modelling and control. It emphasizes in particular the kinematic performances of robots and mechanisms, workspace and trajectory analysis, numerical and symbolic computational methods and algorithms, analysis, simulation and optimization. The book should be of interest to researchers, graduate students, and engineers specializing in the kinematics of robots and mechanisms. It should also be of interest to those engaged in work relating to kinematic chains, mechatronics, mechanism design, biomechanics and intelligent systems.