Modern Robotics from the late 1960's, when progress in the development of microprocessors made possible the computer control multiaxial manipulator. This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their duties. The treatment assumes familiarity with some algebra, calculus linear, and the basic mechanics, however, the elements of rigid-body mechanics and linear transformations are reviewed in the first chapter, making presentations independently. Topics covered include: kinematics and dynamics of serial manipulators with separated architecture, path planning, determination of angular velocity and angular acceleration of rigid body from point data, inverse and direct kinematics manipulators; dynamics of general parallel manipulator platform type, and the kinematics and dynamics of rolling robots.