@book{5240,
	author = {Craig, John J.,},
	title = {Introduction to robotics :},
	publisher = {Addison-Wesley ;},
	year = {c1989.[Reprinted 2005,2004,02003,2002,2001,1999]},
	series = {Addison-Wesley series in electrical and computer engineering. |p Control engineering.},
	address = {Reading, Mass. :},
	edition = {2nd ed.}
}