00301nam a22001097a 4500020001800000040000900018082001700027100001700044245004100061260004800102650004100150  a9780471572558  cNust  a670.427bASF  aC.Ray Asfahl  aRobots and manufacturing automation   aNew York:bJohn Willey and sons Inc,c1992.  aRobots and manufacturing automation