... issues addressed in this book are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dex-terity, inverse and forward kinematics, kinematic singularities, ... 2. 2. A linear three-equation set in nine direction cosines is the unifying factor behind a number of seemingly different kinematics problems, such as those epitomized in Fig. 1. Although ... (11)Wire-based Tracking Using Mutual Information 7Eqs.7and8complete our measurement prediction model h(x,δz).PrefaceThis is the tenth book in the series of Advances in Robot Kinematics. Two were...