Theory of Applied Robotics Reza N. Jazar Theory of Applied Robotics Kinematics, Dynamics, and Control Second Edition 123 Prof. Reza N. Jazar School of Aerospace, Mechanical, and Manufacturing Engineering RMIT University Melbourne, Victoria Australia reza.reza.jazar@rmit.edu.au ISBN 978-1-4419-1749-2 e-ISBN 978-1-4419-1750-8 DOI 10.1007/978-1-4419-1750-8 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 201092 6 033 c Springer Science+Business Media, LLC 2006, 2010  All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. c Konstantin Inozemtsev Cover illustration  Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Dedicated to my wife, Mojgan and our children, Vazan and Kavosh. I am Cyrus, king of the world, great king, mighty king, king of Babylon, king of Sumer and Akkad, king of the four quarters. I ordered to write books, many books, books to teach my people, I ordered to make schools, many schools, to educate my people. Marduk, the lord of the gods, said burning books is the greatest sin. I, Cyrus, and my people, and my army will protect books and schools. They will fight whoever burns books and burns schools, the great sin. Cyrus the great Preface to the Second Edition The second edition of this book would not hav