Computational Kinematics

  • Jorge Angeles
  • Günter Hommel
  • Peter Kovács

Part of the Solid Mechanics and Its Applications book series (SMIA, volume 28)

Table of contents

  1. Front Matter
    Pages i-ix
  2. Kinematics Algorithms

    1. Front Matter
      Pages 1-1
    2. Bernard Roth
      Pages 3-14
    3. Peter Kovács, Günter Hommel
      Pages 27-39
  3. Redundant Manipulators

  4. Kinematic and Dynamic Control

    1. Front Matter
      Pages 107-107
    2. Thomas H. Connolly, Friedrich Pfeiffer
      Pages 109-117
    3. M. Shoham, V. Brodsky
      Pages 129-138
  5. Parallel Manipulators

  6. Motion Planning

  7. Kinematics of Mechanisms

    1. Front Matter
      Pages 239-239
    2. Roger B. Hertz, Peter C. Hughes
      Pages 241-250
    3. Andrés Kecskeméthy
      Pages 263-274
    4. Pietro Fanghella, Carlo Galletti
      Pages 275-284
    5. Rojas Salgado, A. Angel, Torres Navarro, J. Isidro
      Pages 285-293
    6. F. C. Park, A. P. Murray, J. M. McCarthy
      Pages 295-306
  8. Back Matter
    Pages 307-310

About this book


The aim of this book is to provide an account of the state of the art in Com­ putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer­ ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori­ ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question­ s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen­ tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu­ tions, and the question as to the number of solutions to expect still remains.


Rigid body algebra algorithms computer computer science control design robot robotics time

Editors and affiliations

  • Jorge Angeles
    • 1
  • Günter Hommel
    • 2
  • Peter Kovács
    • 2
  1. 1.Department of Mechanical EngineeringMcGill UniversityMontrealCanada
  2. 2.Department of Computer ScienceTechnical University of BerlinBerlinGermany

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media B.V. 1993
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-90-481-4342-9
  • Online ISBN 978-94-015-8192-9
  • Series Print ISSN 0925-0042
  • Buy this book on publisher's site