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The purpose of this book is to summarize in a small manual the principles that are the basis of modern robotics, in order to adapt to the study of robotic control. The purpose is widely popular and indeed it develops themes and applications that can also be used for teaching purposes in both professional and academic fields. The effort made to use a technical terminology reduced to the essential, allows anyone with the main mathematical basis (which is also necessary), the understanding of what is reported in the last part of the book.The hope is to have given scholars, technicians and even just curious, a humble reference that can help them in the tortuous but rewarding path to knowledge.