TY  - BOOK
AU  - Niku, Saeed B.
TI  - An introduction to robotics analysis, systems, applications
SN  - 0130613096
PY  - 2001///
CY  - Upper Saddle River, N.J.
PB  - Prentice Hall
KW  - Robotics
N1  - includes index : p.339 - 349
ER  -