Does a machine run well by virtue of its accuracies, or its freedoms? This work presents an exciting, diagrammatic display of the hidden geometry of freedom and

Does a machine run well by virtue of its accuracies, or its freedoms? This work presents an exciting, diagrammatic display of the hidden geometry of freedom and

This book deals with questions of freedom and constraint in machinery. It asks, for example, whether the smooth working of a machine will depend entirely upon t

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author add

Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles devel