books.google.com - Fundamental and technological topics are blended uniquely and developed clearly in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step...http://books.google.com/books/about/Modelling_and_Control_of_Robot_Manipulat.html?id=v9PLbcYd9aUC&utm_source=gb-gplus-shareModelling and Control of Robot Manipulators
