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on March 31, 2008
I wanted a book that covered Inverse Kinematics for animation in computer graphics. What I found was a book that not only went further than my needs, but turned out to be the most comprehensive coverage of IK and associated topics that I have yet come across.

All of the material covered needs some preliminary study before reading this book, probably from several sources. However, if anyone should want a full treatment of Rotation,Orientation,Motion and Forward Kinematics, to bring it all together, then this is the book for it. The author gives the clearest diagrams and explanations of the Denavit-Hartenberg Notation I have yet seen. If the previous papers on this topic are anything to go by, this has not been an easy task.

Chapter 2. Rotation Kinematics. Excellent examples of Rotation and Successive Rotation about Global Cartesian Axes; Global Roll-Pitch-Yaw Angles; Successive Rotation about Local Cartesian Axes; Euler Angles.
Chapter 3, on Orientation Kinematics gives advanced treatment of this area.

Chapter 4, again the best single treatment I have seen on Rigid Body Motion, Inverse and Compound Homogeneous Transformations. Screw Coordinates are included for advanced study.

Chapter 5, on Forward Kinematics, gives numerous examples on applications of the Denavit-Hartenberg Notation to Transformations. Again, the best I have seen yet, with respect to the diagrams and accompanying examples.

Chapter 6, on Inverse Kinematics, is well explained.

The remaining chapters, from Angular Velocity to Numerical Methods, Acceleration, Robot and Motion Dynamics appear to be in the same vein, although I have only scanned the contents.

Of course, the reader will come across the odd typo. However, I would like to congratulate the author on writing what must be the leading textbook in this field.
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As in matrix and linear algebra, partial derivatives, numerical methods, dynamics, kinematics and of course vector analysis w/lots of trig. One might think that one of the best recent texts ever written on inverse kinematics would be ideal for those of us designing joints both for animation and robotics, but a BIG dose of engineering kinematics is assumed to begin with. The authors say "three years of undergrad" would do it-- maybe at MIT, but a LOT of this material is graduate level in UK and US contexts.

Many animators are not engineers, but are interested in the math behind kinematics. There are few books as up to date at this text in that field. But when you see that quaternion multiplication is "explained" in terms of matrix multiplication and linear algebra, it becomes clear that you need a good grounding in linear and matrix algebra before tackling this volume.

Even the control feedback sections assume you've had at least one or two courses in feedback theory and math. The authors describe this as an "intermediate" text; however, given the paucity of other texts on kinematics in general (at least up to date texts), I'd disagree and call this advanced.

This is not to knock the outstanding quality of the material, just to warn you that if you're into self study, you might be wasting your money when you find the material level assumes a lot of engineering background. NOT a beginning text, sadly, as there are few good ones up to date on kinematics. If you spend your days with Maya and other programs skinning figures, or designing robot joints, and are willing to spend a lot of time on the prep math-- there is no better text available. But it is NOT an introductory text by any means. After all, moving joints around in 3 and 4D IS analytic geometry in motion, and PDE's are abundant in that field.
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on June 12, 2011
This book proved to be very useful in understanding the subject of orientation kinematics and DCM matrix. It helped me write a little tutorial on my blog (google: starlino dcm ) that contain some notes and my own view on the subject. This book is really easy to follow, just make sure you read the introduction that covers the notation conventions.
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on August 20, 2010
This book does a very good job of showing every step involved with many examples. It tends to show numerical examples and is a little light on theory, but this is an applied robotics book so no fault there. It makes a good text to have in conjunction with other robotics books.
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on June 30, 2015
Excellent reference book. Applicable to robotics, statics ( mechanics), and graphics. A comprehensive collection of matrixes in the Cartesian world.
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on March 5, 2014
This book is a comprehensive one full of usefull and practical technical details and applications. Nice and good work and Thanks!
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on April 16, 2016
Get ready for some math.
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on May 24, 2012
The forward and inverse kinematics are described clearly in this book. However, the angular velocity part is not so clear, fuzzy notations with typo obscure your understanding

I strongly recommend the author to check the type, and spend more pages to describe chapter 7
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on September 16, 2008
I recently ordered this book for my Robotics class, and it is by far the most comprehensive text I have read on the subject. The topics are clearly defined and equations are effectively derived and arranged.
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on October 9, 2009
I'm enjoying too much this book, I haven't readed it completely but I'm really satisfied with this purchase. I encourage you to buy this book.

I've bought this book because I'm a robotics enthusiast and until now I've found answers to almost any question I had about.

Really a good job.
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