Niku, Saeed Benjamin. <br/><br/>
An introduction to robotics analysis, systems, applications 
Saeed B. Niku 
 - second edition 
 - Upper Saddle River, N.J.  John Wiley  c2011 
 - xiv, 466 p.  ill.  24 cm. 
<br/><br/> includes index : p.459 - 466 
<br/><br/><label>ISBN: </label>9780470604465 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics