TY  - BOOK
AU  - Murray, Richard M.
AU  - Li, Zexiang
AU  - Sastry, Shankar.
TI  - A Mathematical Introduction to Robotic Manipulation
SN  - 0849379814 (acid-free paper
U1  - 629.892 
PY  - 1994///
CY  - Boca Raton
PB  - CRC Press
KW  - Robotics
N1  - Includes bibliographical references (p. 441-448) and index
UR  - http://www.loc.gov/catdir/enhancements/fy0730/93033167-d.html
ER  -