chapter  2
Basic Mathematical Concepts
Pages 18

As in the development of other areas of science and technology, mathematics has played an important role in the development of the reliability and safety elds of the robot systems also. The history of mathematics may be traced back to the development of our currently used number symbols, sometimes referred as the “Hindu-Arabic numeral system” in the published literature  [1]. Among the early evidences of the use of these number symbols are notches found on stone columns erected by the Scythian Emperor of India named Asoka, in around 250 bc [1].