Preface; 1. Introduction; 2. Coordinate transformations; 3. Manipulator kinematics; 4. Forward kinematic analysis; 5. Reverse kinematic analysis problem statement; 6. Spherical closed-loop mechanisms; 7. Displacement analysis of group 1 spatial mechanisms; 8. Group 2 spatial mechanisms; 9. Group 3 spatial mechanisms; 10. Group 4 spatial mechanisms; 11. Case studies; 12. Quaternions; Appendix; References; Index.

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Introduction to robot manipulators, with case studies of industrial robots.

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'The book meets the need for a thorough analysis of the structure and mobility of serial manipulators and will be useful to both graduate students and engineers working in the field of robotics.' Engineering Designer

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