A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively simple geometries) to the most complicated case of seven general links serially...