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Mark W. Spong, Seth Hutchinson, and M.

Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

There is no published solution for Problem 6.12.

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons