The printed version of this book (ISBN 0-201-15198-7) was published from Addison-Wesley Publishing Company, Inc. in 1991 with Consulting Editor: John J. Craig, Robotic Systems. The book had been out of print for a while before the copyright was returned to the author. The PDF version was made from original tex files and scanned figures of the printed book. The author assumes that he holds the copyright. One can download for free for personal reading and use it for teaching material in a classroom. The author does not agree to redistribute the whole book or use it for the commercial purpose. If someone shows an interest, please advise her/him to visit: https://roboticsnakamura.wordpress.com/publication/books/