Spong, Mark W. <br/><br/>
Robot dynamics and control  / 
Mark W. Spong, M. Vidyasagar 
 - New York :  Wiley,  c1989. 
 - xvi, 336 p. :  ill. ;  24 cm. 
<br/><br/>Introduction (Page-1), Rigid Motions and Homogeneous Transformations.(Page-32), Forward Kinematics: The Denavit-Hartenberg Representation (Page-62), Inverse Kinematics (Page-92), Velocity Kinematics: The Manipulator Jacobian (Page-111), Dynamics (Page-129), Independent Joint Control (Page-167), Multivariable Control (Page-216), Force Control(Page-241),Feedback Linearization (Page-259), Variable Structure and Adaptive Control (Page-384). 
<br/><br/><label>ISBN: </label>047161243X 
<br/><br/><label>LCCN: </label>88022724 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robots--Control systems.<br/>Robots--Dynamics.
<br/><br/><label>Dewey Class. No.: </label>629.892,SPO