Text Angeles, J., 2002, Fundamentals of robotic Mechanical systems Theory, Methods and Algorithms, 2nd Edition, Springer-Verlag, New York References: Craig, J. 1989. Introduction to Robotics. Mechanics and Control 2nd Edition, Addison-Wesley Publishing Company, Reading Ma Paul,R. P, 1981, Robot Manipulators. Mathematics, Programming and Control, The MIT Press, Cambridge, MA Asada,H. and stoline, J-J.. 1986. Robot Analysis and Control John Wiley and Sons, Inc, New York Lung-Wen Tsai, 1999 Robot Analysis, John Wiley sonsText: Angeles, J., 2002, Fundamentals of Robotic Mechanical Systems, Theory, Methods and Algorithms, 2 nd Edition, Springer-Verlag, New York References: Craig, J., 1989., Introduction to Robotics. Mechanics and Control, 2 nd Edition, Addison-Wesley Publishing Company, Reading MA Paul, R. P., 1981, Robot Manipulators. Mathematics, Programming and Control, The MIT Press, Cambridge, MA Asada, H. and Stoline, J-J.E. 1986, Robot Analysis and Control, John Wiley and Sons, Inc, New York. Lung-Wen Tsai, 1999 Robot Analysis, John Wiley & Sons