Spong, Mark W. <br/><br/>
Robot dynamics and control / 
by Mark W. Spong and M. Vidyasagar 
 - Canada :  John Wiley & Sons,  2004. 
<br/><br/><label>ISBN: </label>9812530789 
<br/><br/><label>Subjects--Index Terms: </label>Electronic engineering Robots Applied Mechanics