Robot Modeling and Control - Spong, Mark W, and Hutchinson, Seth, and Vidyasagar, M
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Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.

Robot Modeling and Control 2005, Wiley, Hoboken, NJ

ISBN-13: 9780471649908