Craig, John J., <br/><br/>
Introduction to robotics :  mechanics and control / 

 - 3rd ed. 
 - Upper Saddle River  Pearson/Prentice Hall,  2005. 
 - viii, 400 p. :  ill. ;  25 cm. 
<br/><br/>Includes bibliographical references and index. 
<br/><br/><label>ISBN: </label>0201543613 
<br/><br/><label>LC Class. No.: </label>TJ211  / .C85 2005