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1、TheoryofAppliedRoboticsRezaN.JazarTheoryofAppliedRoboticsKinematics,Dynamics,andControlSecondEdition123Prof.RezaN.JazarSchoolofAerospace,Mechanical,andManufacturingEngineeringRMITUniversityMelbourne,VictoriaAustraliareza.reza.jazar@rmit.edu.auISBN978-1-4419-1749-2e-ISBN97
2、8-1-4419-1750-8DOI10.1007/978-1-4419-1750-8SpringerNewYorkDordrechtHeidelbergLondonLibraryofCongressControlNumber:2010926033cSpringerScience+BusinessMedia,LLC2006,2010Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrittenpermissionofthepubli
3、sher(SpringerScience+BusinessMedia,LLC,233SpringStreet,NewYork,NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsorscholarlyanalysis.Useinconnectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology
4、nowknownorhereafterdevelopedisforbidden.Theuseinthispublicationoftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubjecttoproprietaryrights.CoverillustrationcKonstantinInozemts
5、evPrintedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)Dedicatedtomywife,Mojganandourchildren,VazanandKavosh.IamCyrus,kingoftheworld,greatking,mightyking,kingofBabylon,kingofSumerandAkkad,kingofthefourquarters.Iorderedtowritebooks,manybook
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7、condEditionThesecondeditionofthisbookwouldnothavebeenpossiblewithoutthecommentsandsuggestionsfrommystudents,especiallythoseatColumbiaUniversity.Manyofthenewtopicsintroducedhereareadirectresultofstudentfeedbackthathelpedmerefineandclarifythematerial.Myintentionwhenwritingt
8、hisbookwastodevelopmaterialthatIwouldhavelikedtohadavailableasastudent.Hopefully,Ihavesucceededi
