This book is an attempt to include, in one volume, a useful summary of the many complex technologies that go into a modern robot. Our definition of a robot requires that it be able to operate independently of human control and be capable of movement, either on a mobile base or by the use of a manipulator arm. This definition covers, therefore, industrial robots and the growing category of home robots, office robots, and mobile vehicles or combinations thereof. The broad coverage of robotic engineering and technology makes this book a useful reference on the operation of robots and robotic systems for the practicing engineer, researcher, or robot technologist. A thorough index and a comprehensive glossary have been supplied to make it easy to find and understand the information presented. There is also an extensive list of references to the widely scattered literature in the many fields that are combined to make robotics possible. Appendixes are supplied to describe some terminology and mathematical concepts that may be new to some readers.

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