Spong, Mark W, Ed. <br/><br/>
Robot control  dynamics, motion planning and analysis 

 - New York  IEEE Press  1994 
 - ix, 539p.  
<br/><br/><label>ISBN: </label>0-7803-0404-7 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robots-Control systems