An essential book for engineers developing robotic systems, as well as anyone involved with the mechanics, control, or programming of robotic systems. Now in its third edition, the first edition of this classic text was published approximately 20 years ago. The second edition has been in print and highly successful for 16 years. The book introduces the science and technology of mechanical manipulation. The third edition is organized into 13 chapters. Numerous exercises and a programming assignment appear at the end of each chapter. Computational aspects of problems are emphasized throughout the book. New in the third edition are MATLAB reg; exercises.