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Robot Kinematics

http://en.wikibooks.org/wiki/Robotics_Kinematics_and_Dynamics/Description_of_Position_and_Orientation#MATLAB_Example

http://en.wikibooks.org/wiki/Robotics_Kinematics_and_Dynamics/Serial_Manipulator_Position_Kinematics

http://en.wikibooks.org/wiki/Robotics_Kinematics_and_Dynamics/Serial_Manipulator_Differential_Kinematics

http://en.wikibooks.org/wiki/Robotics_Kinematics_and_Dynamics/Serial_Manipulator_Statics

http://en.wikibooks.org/wiki/Robotics_Kinematics_and_Dynamics/Serial_Manipulator_Dynamics