The trends and progress attained in computational kinematics over a broad class of problems are grouped into six parts describing the main themes:

1. kinematics algorithms, discussing kinematics problems in light of their solution algorithms;
2. kinematics of mechanisms, studying problems related to specific mechanisms;
3. singularities;
4. workspace, discussing the determination of the workspace of given mechanisms;
5. parallel manipulators;
6. motion and grasp planning, touching on computational geometry.

The volume contains a representative sample of the most modern techniques available for kinetics problems, including techniques based on recent advances in algebraic geometry. Audience: Researchers, graduate students and practising engineers in work relating to kinematics, robotics, machine design and computer science.