@book{249312,
	author = {Sciavicco, Lorenzo. and Siciliano, Bruno.},
	title = {Modelling and control of robot manipulators ; with 190 figures /},
	publisher = {Springer,},
	year = {2000.},
	series = {Advanced textbooks in control and signal processing.},
	address = {London :},
	edition = {2nd ed.}
}