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    Statements

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    1982
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    spatial kinematic chains
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    linkages modeled, analyzed, synthesized, identified and optimized
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    closed chains
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    robots
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    manipulators
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    open chains
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    coordinate transformation
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    nonlinear transformation
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    theorems of Euler, Chasles
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    theorem of Aronhold-Kennedy and of Coriolis
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    lower-pair chains
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    method of Denavit and Hartenberg
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    single-loop mechanisms
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    multiple-loop mechanisms
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    linkage synthesis
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    optimization
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    FORTRAN programs
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