Murray, Richard M. <br/><br/>
A mathematical introduction to robotic manipulation 

 - Boca Raton  CRC press  1994 
 - xix, 456p. 
<br/><br/><label>ISBN: </label>9780849379819 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robot Dynamics and control<br/>Nonholonomic motion planning<br/>Rigid Body Motion<br/>Robotics--Mathematics
<br/><br/><label>Dewey Class. No.: </label>629.9  / MUR