TY  - BOOK
AU  - Angeles,Jorge
TI  - Fundamentals of robotic mechanical systems: theory, methods, and algorithms 
T2  - Mechanical engineering series
SN  - 038795368X (alk. paper)
PY  - 2003///
CY  - New York
PB  - Springer
KW  - Robotics
N1  - Includes bibliographical references p. [501]-513 and index
ER  -