Selig, J. M. <br/><br/>
Geometrical methods in robotics 
/ by J. M. Selig 
 - New York  Springer  1996 
 - 269p. 
<br/><br/><label>ISBN: </label>0387947280 
<br/><br/><label>Dewey Class. No.: </label>629.892  / SEL/G