Titlebook: Advances in Robot Kinematics: Analysis and Design; Jadran Lenarčič,Philippe Wenger Book 2008 Springer Science+Business Media B.V. 2008 Hub

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Kinematics of Free-Floating Systems through Optimal Control Theoryorward and backward models, for either multibody or continuous hyperredundant actuated mechanical systems. One important by-product of the approach is an effective way for detecting . for the considered class of systems.

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https://doi.org/10.1007/978-1-84628-951-4ere, we specifically address the design of spherical RR open and 4R closed chains since they form the foundation of a new class of devices being developed called PODs or Part Orienting Devices. An example that demonstrates the synthesis technique is included.

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