Robot control  Dynamics, motion planning and analysis 
ed. by Mark W Spong, F L Lewis, C T Abdallah 
 - New York  IEEE  1993 
 - ix, 539p 
<br/><br/><label>ISBN: </label>0780304047 
<br/><br/><label>Dewey Class. No.: </label>670.4272  / N931