Craig, John J. <br/><br/>
Introduction to robotics  Mechanics and control 

 - 2nd ed. 
 - Reading  Addison-Wesley  1999 
 - xiii,450p.  23 cm. 
 - Addison-Wesley series in electrical and computer engineering .
<br/><br/><label>ISBN: </label>0201525399 
<br/><br/><label>Dewey Class. No.: </label>629.892  / CRA