Robot analysis and control / 
H. Asada and J. J. E. Slotine. 
 - New York :  John Wiley & Sons,  1986. 
 - 266 pages :  illustrations ;  25 cm. 
<br/><br/><label>ISBN: </label>0471830291 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics.