 
    Preface. 1. Introduction. 2. Architectures. 3. Jacobian and inverse kinematics. 4. Direct kinematics. 5. Singular configurations. 6. Workspace. 7. Velocity and Acceleration. 8. Static analysis. 9. Dynamics. 10. Design. 11. Conclusion. WEB addresses. Index. References.
"synopsis" may belong to another edition of this title.