Vidyasagar Spong, Mark W. creator text New Dehli Wiley 2012 monographic xii, 336 p. : ill. ; 23 cm. Includes Index. Computer science Robot-Dynamics Homogeneous transformation Rigid motions Manipulator jacobian Control systems Force control Kinematics Dynamics Velocity FC 629.892 SPO 9788126517800 (pbk)