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R OBOTICS
Appin Knowledge Solutions
E NGINEERING S ERIES
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R OBOTICS
R OBOTICS
A PPIN K NOWLEDGE
S OLUTIONS
I NFINITY S CIENCE P RESS LLC
Hingham, Massachusetts
New Delhi
426124450.126.png
Revision & Reprint Copyright 2007 by INFINITY SCIENCE PRESS LLC. All rights reserved.
Original Copyright 2007 by BPB PUBLICATIONS PVT. LTD. All rights reserved.
This publication, portions of it, or any accompanying software may not be reproduced in any way, stored
in a retrieval system of any type, or transmitted by any means or media, electronic or mechanical, includ-
ing, but not limited to, photocopy, recording, Internet postings or scanning, without prior permission in
writing from the publisher.
INFINITY SCIENCE PRESS LLC
11 Leavitt Street
Hingham, MA 02043
Tel. 877-266-5796 (toll free)
Fax 781-740-1677
info@infi nitysciencepress.com
www.infi nitysciencepress.com
This book is printed on acid-free paper.
Appin Knowledge Solutions. Robotics .
ISBN: 978-1-934015-02-5
The publisher recognizes and respects all marks used by companies, manufacturers, and developers as
a means to distinguish their products. All brand names and product names mentioned in this book are
trademarks or service marks of their respective companies. Any omission or misuse (of any kind) of service
marks or trademarks, etc. is not an attempt to infringe on the property of others.
Library of Congress Cataloging-in-Publication Data
Robotics / Appin Knowledge Solutions.
p.cm.
Includes index.
ISBN 978-1-934015-02-5 (hardcover with cd-rom : alk. paper)
1. Robotics–Handbooks, manuals, etc. 2. Robots, Industrial–Handbooks, manuals, etc. I. Appin Knowl-
edge Solutions (Firm)
TJ211.R555 2007
629.8’92--dc22
2007010554
7 8 9 4 3 2 1
Our titles are available for adoption, license, or bulk purchase by institutions, corporations, etc. For addi-
tional information, please contact the Customer Service Dept. at 877-266-5796 (toll free).
Requests for replacement of a defective CD-ROM must be accompanied by the original disc, your mailing
address, telephone number, date of purchase and purchase price. Please state the nature of the problem,
and send the information to INFINITY SCIENCE PRESS, 11 Leavitt Street, Hingham, MA 02043.
The sole obligation of INFINITY SCIENCE PRESS to the purchaser is to replace the disc, based on defective
materials or faulty workmanship, but not based on the operation or functionality of the product.
About the Authors
Appin Knowledge Solutions , with its Asia Pacifi c Headquarters in New Delhi, is an af-
fi liate of the Appin Group of Companies based in Austin, Texas. Its many businesses
span software development, consulting, corporate training programs, and empowerment
seminars & products. Appin Knowledge Solutions is comprised of prominent industry
professionals, many from the University of Texas, Austin and the Indian Institute of
Technology, Delhi. The company has extensive experience working with Fortune 500
companies including Microsoft, AT&T, General Electric, & IBM. Appin Knowledge So-
lutions aims to bridge the gap between academia and industry by training people world-
wide in fi elds such as nanotechnology and information security through Appin Technol-
ogy Labs and its distance learning programs.
This book has been co-authored by the technical team at Appin Knowledge Solutions .
The group is headed by Rajat Khare and includes the following technology professionals:
Ashok Sapra, Ishan Gupta, Vipin Kumar, Anuj Khare, Tarun Wig, and Monika Chawla.
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