Part of this book adapted from "Analyse et mod lisation des robots manipulateurs" and "Commande des robots manipulateurs" published in France in 2001 and 2002 by Herm s Science/Lavoisier First published with revisions in Great Britain and the United States in 2007 by ISTE Ltd

Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms and licenses issued by the CLA. Enquiries concerning reproduction outside these terms should be sent to the publishers at the undermentioned address:

ISTE Ltd
6 Fitzroy Square
London W1T 5DX
UK

ISTE USA
4308 Patrice Road
Newport Beach, CA 92663
USA

http://www.iste.co.uk

LAVOISIER, 2001, 2002

The rights of Etienne Dombre and Wisama Khalil to be identified as the authors of this work have been asserted by them in accordance with the Copyright, Designs and Patents Act 1988.

Library of Congress Cataloging-in-Publication Data

Modeling, performance analysis and control of robot manipulators/edited by Etienne Dombre, Wisama Khalil.
p. cm.
Includes index.

ISBN-13: 978-1-905209-10-1
ISBN-10: 1-905209-10-X
1. Robotics. 2. Manipulators (Mechanism) I. Dombre, E. (Etienne) II. Khalil, W. (Wisama) TJ211.M626 2006 629.8 ?933 dc22

2006032328

British Library Cataloguing-in-Publication Data

A CIP record for this book is...