v vi Acknowledgments The author and publisher would like to thank the following companies, organizations, and individuals for their contribution of resource material, images, or other support in the development of Industrial Robotics Fundamentals: Theory and Applications. ABB Graco Motoman ABB Robotics Accuray Incorporated Adept Technology, Inc. American Honda Motor Co., Inc. Anaheim Automation, Inc. Carnegie Mellon University Cisco-Eagle Daifuku Co., Ltd. De-STA-Co Edison Robot Educational Robot Company FANUC Robotics fl orin operea fl Grabit, Inc. Infrared Cameras, Inc. International Federation of Robotics iRobot Corporation Knightscope, Inc. Mack Corporation ME Labs, Inc. MobileRobots, Inc. Motoman NEC Corporation Northrop Grumman Corporation Omron Adept Technologies, Inc. Pacifi Robotics, Inc. fic PHD, Inc. Pololu Robotics PRI-Precision Robots, Inc. Reis Machines, Inc. Schunk SCHUNK GmbH & Co. KG SCHUNK Intec Inc. Schunk-USA Segway, Inc. Servo-Robot Inc. Sparkfun Electronics, Inc. Sterling Detroit Company Superior Electric Co. Techno, Inc. Tektronix, Inc. University of Pennsylvania GRASP Lab, Vijay Kumar, Daniel Mellinger, and Alex Kushleyev VEX Robotics, Inc. Yamaha