-engineering- theory(ebook - pdf) - reference - roboticsLewis, F.L.; et. al. “Robotics” Mechanical Engineering Handbook Ed. Frank Kreith Boca Raton: CRC Press LLC, 1999 c 1999 by CRC Press LLC Robotics Frank L. Lewis University of Texas at Arlington 14.1 Introduction ....................................................................14-2 14.2 Commercial Robot Manipulators...................................14-3 Commercial Robot Manipulators Commercial Robot Controllers John M. Fitzgerald University of Texas at Arlington 14.3 Robot Congurations ...................................................14-15 Fundamentals and Design Issues Manipulator Kinematics Summary Ian D. Walker Rice University Mark R. Cutkosky Stanford University 14.4 End Effectors and Tooling ...........................................14-24 A Taxonomy of Common End Ef……