Kinematic analysis of robot manipulators. Carl D. Crane, I. & Duffy, J. Cambridge Uni. Press, 1998.
bibtex   
@Book{SCC.CarlD.Crane.Duffy1998,
  title     = {Kinematic analysis of robot manipulators},
  publisher = {Cambridge Uni. Press},
  year      = {1998},
  author    = {Carl D. Crane, III and Duffy, Joseph},
  owner     = {mattjo},
  timestamp = {2014.10.30},
}
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