This book provides extensive information regarding the rapidly growing field of robotics. Robotics form an essential part of modern engineering and is associated with various other fields namely mathematics, mechanism design, computer and electric & electronics. In the past few decades, interest in robotics has notably increased which has led to the advancement of theoretical research and products in this field. This book includes contributions of prominent researchers and engineers dealing with robotics and its related aspects. It extensively covers topics of serial manipulators such as kinematics & dynamics and control modeling.