Murray, Richard M. <br/><br/>
A mathematical introduction to robotic manipulation / 
Richard M. Murray, Zexiang Li, S. Shankar Sastry 
 - Boca Raton :  CRC Press,  1994 
 - 456 p. :  ill. ;  24  cm. 
<br/><br/><label>ISBN: </label>0849379814 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics