@book{1881,
	author = {Spong, Mark W. and Vidyasagar, Mathukumalli.},
	title = {Robot dynamics and control /},
	publisher = {John Wiley and Sons (WIE),},
	year = {1989.},
	address = {[S.l.] :},
	url = {http://www.amazon.com/exec/obidos/ASIN/0471503525/chopaconline-20}
}