The aim of this book is to present recent advances in the area of kinematics of robots and mechanisms. The book consists of forty-five contributions grouped in eight sections that include the following prevalent topics: control and optimisation, kinematic performance of robots and mechanisms, workspace and trajectory analysis, modelling and computation, analysis and simulation. Two sections are dedicated to the problems of parallel mechanisms: performance of parallel mechanisms, and kinematic analysis of parallel mechanisms. This text should be of interest to researchers, graduate students, and engineers specializing in the kinematics of robots and mechanisms. It should also be of interest to those working with kinematic chains in rigid-body kinematics.