TY  - BOOK
AU  - Niku,Saeed Benjamin
TI  - An introduction to robotics analysis, systems, applications
SN  - 9780470604465
PY  - 2011///
CY  - Upper Saddle River, N.J.
PB  - John Wiley
KW  - Robotics
N1  - includes index : p.459 - 466
ER  -