Murray, Richard M. <br/><br/>
A mathematical introduction to robotic manipulation / 
Richard M. Murray, Zexiang Li, S. Shankar Sastry. 
 - Boca Raton, Fla. :  CRC Press,  1994. 
 - 456 p. :  ill. ;  25 cm. 
<br/><br/>references : p. 441-448. 
<br/><br/><label>ISBN: </label>0849379814  RM202.37 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics.