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TABLE OF CONTENTS
INTRODUCTION. ........................................................................................................3
CHAPTER 2. SPATIAL DESCRITIONS AND TRANSFORMATIONS.................4
CHAPTER 3. MANIPULATOR KINEMATICS........................................................14
CHAPTER 4. INVERSE MANIPULATOR KINEMATICS......................................25
CHAPTER 5. JACOBIANS: VELOCITIES AND STATIC FORCES ......................36
CHAPTER 6. MANIPULATOR DYNAMICS...........................................................45