Book Name:Advances in Robot Kinematics
Author: Jadran Lenarcic and Bernard Roth
ISBN : 978-1-4020-4941-5
This book focuses on the up to date research advances in the theory, design, control and application of robotic systems, which are planned for a diversity of purposes such as exploitation, manufacturing, computerization, surgery, locomotion and bio mechanics. The issues addressed are basically kinematic in nature, including production, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are practical to both parallel and serial multi-degree-of-freedom systems.