Spong, W Mark <br/><br/>
Robot Dynamics and Control 

 - Noida  John Wiley & Sons 
 - 336p. 
<br/><br/><label>ISBN: </label>9812530789 
<br/><br/><label>Subjects--Index Terms: </label>Multivariable Control, Inverse Kinematics, Manipulator Jacobian, Independant Joint Control, Rigid Motions and Homogeneous Transformations, Force Control 
<br/><br/><label>Dewey Class. No.: </label>629.892