Robotics :  modelling, planning and control / 
Bruno Siciliano ... [et al.] 
 - London :  Springer,  c2009 
 - xxiv, 632 p. :  ill. ;  24 cm. 
 - Advanced textbooks in control and signal processing .
 - Advanced textbooks in control and signal processing .
<br/><br/>Includes bibliographical references (p. [609]-622) and index 
<br/><br/><label>ISBN: </label>1846286417 (hbk.) 9781846286414 (hbk.) 9781846286421 (ebk.) 1846286425 (ebk.) 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robots--Control systems<br/>Robots--Motion<br/>Manipulators (Mechanism)