Since publication in 1979 Isabel Rivers' sourcebook has established itself as the essential guide to English Renaissance poetry. It:provides an account of the main classical and Christian ideas, outlining their meaning, their origins and their transmission to the Renaissance;illustrates the ways in which Renaissance poetry drew on classical and Christian ideas;contains extracts from key classical and Christian texts and relates these to the extracts of the English poems which draw on them;inc...

Presents a formulation of the kinematics, dynamics, and control of robot manipulators. This book emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework.