SOLUTIONS MANUAL s
INTRODUCTIONTO s
ROBOTICS
MECHANICS AND CONTROL
s s
THIRD EDITION s
JOHN J.CRAIG s s
UppersSaddlesRiver,sNewsJerseys07458
,AssociatesEditor:s Alices DworkinsExecutiv
esManagingsEditor:sVincesO'BriensManagin
gsEditor:sDavidsA.sGeorgesProductionsEdito
r:sCraigsLittle
SupplementsCoversManager:sDanielsSandin
ManufacturingsBuyer:sIlenesKahn
©s2005sbysPearsonsEducation,sInc.sPearsons
PrenticesHall
PearsonsEducation,sInc.
UppersSaddlesRiver,sNJs07458
Allsrightssreserved.sNospartsofsthissbooksmaysbesreproducedsinsanysformsorsbysanysmeans,swithoutsper
missionsinswritingsfromsthespublisher.
Thesauthorsandspublishersofsthissbookshavesusedstheirsbestseffortssinspreparingsthissbook.sThesesefforts
sincludesthesdevelopment, sresearch,sandstestingsofsthestheoriessandsprogramsstosdeterminestheirseffecti
veness.sThesauthorsandspublishersmakesnoswarrantysofsanyskind,sexpressedsorsimplied,swithsregardstost
hesesprogramssorsthesdocumentationscontainedsinsthissbook.sThesauthorsandspub-
slishersshallsnotsbesliablesinsanyseventsforsincidentalsorsconsequentialsdamages sinsconnectionswith,sors a
risingsoutsof,sthesfurnishing,sperformance,sorsusesofsthesesprograms.
PearsonsPrenticesHall®s issastrademarksofsPearsonsEducation,sInc.
ThissworksissprotectedsbysUnitedsStatesscopyrightslawssandsissprovidedssolelysforsthesusesofsinstructors
sinsteachingstheirscoursessandsassessingsstudentslearning.s Disseminationsorssalesofsanyspartsofsthisswork
s(includingsonsthesWorldsWidesWeb)swillsdestroysthesintegritysofsthesworksandsissnots permitted.sThes w
orksandsmaterialssfromsitsshouldsneversbesmadesavailablestosstudentssexceptsbysinstructorssusingsthesac
companyingstextsinstheirsclasses.sAllsrecipientssofsthissworksaresexpectedstosabidesbysthesesrestrictionss
andstoshonorsthesintendedspedagogicalspurposessandsthesneedssofsothersinstructorsswhosrelysonstheses
materials.
PrintedsinsthesUnitedsStatessofsAmericas10s
9s 8s 7s 6s 5s 4s 3s 2s 1
ISBNss 0201-54362-1
PearsonsEducationsLtd.,sLondon
PearsonsEducationsAustraliasPty.sLtd.,sSydney
PearsonsEducationsSingapore,sPte.sLtd.
PearsonsEducationsNorthsAsiasLtd.,sHongsKongsP
earsonsEducationsCanada,sInc.,sTorontosPearsons
EducaciónsdesMexico,sS.A.sdesC.V.sPearsonsEduc
ation—Japan,sTokyo
PearsonsEducationsMalaysia,sPte.sLtd.
PearsonsEducation,sInc.,sUppersSaddlesRiver,sNewsJersey
,
,
INTRODUCTIONTO s
ROBOTICS
MECHANICS AND CONTROL
s s
THIRD EDITION s
JOHN J.CRAIG s s
UppersSaddlesRiver,sNewsJerseys07458
,AssociatesEditor:s Alices DworkinsExecutiv
esManagingsEditor:sVincesO'BriensManagin
gsEditor:sDavidsA.sGeorgesProductionsEdito
r:sCraigsLittle
SupplementsCoversManager:sDanielsSandin
ManufacturingsBuyer:sIlenesKahn
©s2005sbysPearsonsEducation,sInc.sPearsons
PrenticesHall
PearsonsEducation,sInc.
UppersSaddlesRiver,sNJs07458
Allsrightssreserved.sNospartsofsthissbooksmaysbesreproducedsinsanysformsorsbysanysmeans,swithoutsper
missionsinswritingsfromsthespublisher.
Thesauthorsandspublishersofsthissbookshavesusedstheirsbestseffortssinspreparingsthissbook.sThesesefforts
sincludesthesdevelopment, sresearch,sandstestingsofsthestheoriessandsprogramsstosdeterminestheirseffecti
veness.sThesauthorsandspublishersmakesnoswarrantysofsanyskind,sexpressedsorsimplied,swithsregardstost
hesesprogramssorsthesdocumentationscontainedsinsthissbook.sThesauthorsandspub-
slishersshallsnotsbesliablesinsanyseventsforsincidentalsorsconsequentialsdamages sinsconnectionswith,sors a
risingsoutsof,sthesfurnishing,sperformance,sorsusesofsthesesprograms.
PearsonsPrenticesHall®s issastrademarksofsPearsonsEducation,sInc.
ThissworksissprotectedsbysUnitedsStatesscopyrightslawssandsissprovidedssolelysforsthesusesofsinstructors
sinsteachingstheirscoursessandsassessingsstudentslearning.s Disseminationsorssalesofsanyspartsofsthisswork
s(includingsonsthesWorldsWidesWeb)swillsdestroysthesintegritysofsthesworksandsissnots permitted.sThes w
orksandsmaterialssfromsitsshouldsneversbesmadesavailablestosstudentssexceptsbysinstructorssusingsthesac
companyingstextsinstheirsclasses.sAllsrecipientssofsthissworksaresexpectedstosabidesbysthesesrestrictionss
andstoshonorsthesintendedspedagogicalspurposessandsthesneedssofsothersinstructorsswhosrelysonstheses
materials.
PrintedsinsthesUnitedsStatessofsAmericas10s
9s 8s 7s 6s 5s 4s 3s 2s 1
ISBNss 0201-54362-1
PearsonsEducationsLtd.,sLondon
PearsonsEducationsAustraliasPty.sLtd.,sSydney
PearsonsEducationsSingapore,sPte.sLtd.
PearsonsEducationsNorthsAsiasLtd.,sHongsKongsP
earsonsEducationsCanada,sInc.,sTorontosPearsons
EducaciónsdesMexico,sS.A.sdesC.V.sPearsonsEduc
ation—Japan,sTokyo
PearsonsEducationsMalaysia,sPte.sLtd.
PearsonsEducation,sInc.,sUppersSaddlesRiver,sNewsJersey
,
,
