Top positive review
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Writers of Computer Graphics Textbooks, please note.
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.