Robotics : modelling, planning and control / Bruno Siciliano ...[et al.] Siciliano, Bruno. Sciavicco, Lorenzo. jt. auth. Villani, Luigi. jt. auth. Oriolo, Guiseppe. jt. auth. Robots. 629.892 ROB Includes bibliographical references and index. London : Springer, 2009. 2009. 2009 Text xxiv, 632 p. : eng Advanced textbooks in control and signal processing.