MIT Press, 1990. Black hard cover with white titles on spine. In good condition. Contents tight and clean with no inscriptions or markings. Dust jacket has creasing and chipping to top edge with some absences at rear. It has been covered.
Introduction to Theoretical Kinematics provides a uniform presentation of the mathematical foundations required for studying the movement of a kinematic chain that makes up robot arms, mechanical hands, walking machines, and similar mechanisms. It is a concise and readable introduction that takes a more modern approach than other kinematics texts and introduces several useful derivations that are new to the literature.