Intended as an introduction to robot mechanics for students of
mechanical, industrial, electrical, and bio-mechanical engineering,
this graduate text presents a wide range of approaches and topics.
It avoids formalism and proofs but nonetheless discusses advanced
concepts and contemporary applications. It will thus also be of
interest to practicing engineers. The book begins with kinematics,
emphasizing an approach based on rigid-body displacements instead
of coordinate transformations; it then turns to inverse kinematic
analysis, presenting the widely used Pieper-Roth and
zero-reference-position methods. This is followed by a discussion
of workplace characterization and determination. One focus of the
discussion is the motion made possible by sperical and other novel
wrist designs. The text concludes with a brief discussion of
dynamics and control. An extensive bibliography provides access to
the current literature.
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