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

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