dynamical systems and stability theory, followed by detailed coverage of forward and in-verse kinematics, Jacobians, Lagrangian dynamics, motion planning, robust and adaptive motion and force control, and com-puter vision.  Both basic and advanced material is presented in a style that is readable and mathematically rigorous.  The book provides relevant applications from industrial robotics and mobile robotics. Suitable for a one or two term course, this text is appropriate for undergraduate and graduate students from electrical engineering, mechanical engineering, computer science, and mathematics and can be used as a research reference. Many detailed worked examples and extensive problems illustrate theory and point the reader to more advanced topics.

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