Optimization of Kinematics and Dynamics of Robotic Systems

This book describes the optimal design of single- and multi-degree-of-freedom systems using both kinematic and dynamic considerations illustrated through complex engineering problems. It presents the classical topics in mechanism synthesis such as function generation and rigid body guidance with an emphasis on numerical optimization techniques. Highlights include topics of active research by the authors, including gravity balancing, reactionless mechanisms, force-motion generation, and differentially flat systems. It provides numerous real-life examples from robotics, engineering, rehabilitation, aviation, and aerospace and includes references, examples, problems, and a complete solutions manual.