Robot dynamics and control / Mark W. Spong and M. Vidyasagar. Spong, Mark W. Vidyasagar, M. (Mathukumalli), 1947- Robots Dynamics. Robots Control systems. TJ211.4 .S66 1989 629.892 19 SPR Includes bibliographies and index. New York : Wiley, c1989. c1989. 1989 Text xvi, 336 p. : eng