Thanks. The key topic seems to be "Kinematic Synthesis" for which there appears to be a developed theory. https://inst.eecs.berkeley.edu/~cs194-28/fa15/lecture

Thanks. The key topic seems to be "Kinematic Synthesis" for which there appears to be a developed theory. https://inst.eecs.berkeley.edu/~cs194-28/fa15/lectures/kinematic-synthesis-1.pdf https://inst.eecs.berkeley.edu/~cs194-28/fa15/lectures/kinem...