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This book provides the basic know-how on the foundations of robotics: modelling, planning and control. The book develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. The theory of manipulator structures presented in the early part of the book encompasses the fundamentals: kinematics, statics and...