Part I Introduction to balancing -- 1 Introduction -- 2 An overview of balancing methods -- 2.1 Shaking force and shaking moment balancing of linkages -- 2.2 Shaking force and shaking moment balancing of robots and manipulators -- 2.3 Gravity balancing in robotics -- Part II Balancing of Linkages -- 3 Partial shaking force and shaking moment balancing of linkages -- 3.1 Shaking moment minimization of fully force-balanced planar linkages by displacing one counterweight -- 3.2 Shaking moment minimization of fully force-balanced planar linkages by displacing several counterweights -- 3.3 Shaking moment minimization of fully force-balanced spatial linkages -- 3.4 An approximate method of calculating a counterweight for the optimum shaking force and shaking moment balancing of linkages -- 4 Complete shaking force and shaking moment balancing of linkages -- 4.1 Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group -- 4.2 Complete shaking force and shaking moment balancing of planar linkages by adding the articulated dyads -- 4.3 Complete shaking force and shaking moment balancing of RSS'R spatial linkages -- 4.4 Design of self-balanced mechanical systems -- 5 Balancing of slider-crank mechanisms -- 5.1 Generalized Lanchester balancer -- 5.2 Balancing via the properties of the Watt gear-slider mechanism -- 5.3 Shaking moment cancellation of self-balanced slider-crank mechanical systems by means of optimum mass redistribution -- 5.4 Simultaneous inertia force/moment balancing and torque compensation of slider-crank mechanisms -- 5.5 Shaking force and shaking moment balancing of slider-crank mechanisms via optimal generation of the input crank rotation -- Part III Balancing of Robot Manipulators -- 6 Balancing of manipulators by using the copying properties of pantograph mechanisms -- 6.1 Design of balancing mechanisms for spatial parallel manipulators: application to the Deltarobot -- 6.2 Design of self-balanced parallel manipulators: PAMINSA with four dof -- 6.3 Design and balancing of hand-operated manipulators -- 7 Shaking force and shaking moment balancing of robot manipulators -- 7.1 Complete shaking force and shaking moment balancing of 3-dof 3-RRR parallel manipulators -- 7.2 Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs -- 7.3 Shaking force minimization of high-speed robots via centre of mass acceleration control -- 7.4 Balancing of robot manipulators via optimal motion control -- 8 Gravitational force balancing of robotic systems -- 8.1 Balancing of pantograph mechanisms -- 8.2 Optimal balancing of the parallel robot for medical 3D-ultrasound imagining -- 8.3 Improvement of balancing accuracy of robot-manipulators taking into account the spring mass -- 8.4 Optimal balancing of serial manipulators with decoupled dynamics -- References.