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Discover a fresh take on classical screw theory and understand the
geometry embedded within robots and mechanisms with this essential
text. The book begins with a geometrical study of points, lines,
and planes and slowly takes the reader toward a mastery of screw
theory with some cutting-edge results, all while using only basic
linear algebra and ordinary vectors. It features a discussion of
the geometry of parallel and serial robot manipulators, in addition
to the reciprocity of screws and a singularity study. All 41
essential screw systems are unveiled, establishing the possible
freedom twists and constraint wrenches for a kinematic joint.
Familiarizing the reader with screw geometry in order to study the
statics and kinematics of robots and mechanisms, this is a perfect
resource for engineers and graduate students.
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