Spong, Mark W. <br/><br/>
Robot dynamics and control   
by Mark W. Spong, M. Vidyasagar 
 - New York  John-Wiley & sons  1989 
 - xvi, 336p. 
<br/><br/><label>ISBN: </label>047161243X 
<br/><br/><label>Dewey Class. No.: </label>629.892  / N89