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This book provides a framework for the kinematic analysis of mechanical devices, with detailed instructions for modeling, simulation, and analysis. It includes information on a wide variety of devices, from simple linkages to complex robotics systems, and covers topics such as motion control, trajectory planning, and inverse kinematics. An essential resource for engineers and researchers in the field of mechanical engineering. This work has been selected by scholars as being culturally important, and is part of the knowledge base of civilization as we know it. This work is in the "public domain in the United States of America, and possibly other nations. Within the United States, you may freely copy and distribute this work, as no entity (individual or corporate) has a copyright on the body of the work. Scholars believe, and we concur, that this work is important enough to be preserved, reproduced, and made generally available to the public. We appreciate your support of the preservation process, and thank you for being an important part of keeping this knowledge alive and relevant.