@book{6594,
	author = {Angeles, Jorge,},
	title = {Fundamentals of robotic mechanical systems :},
	publisher = {Springer,},
	year = {c2007.},
	series = {Mechanical engineering series},
	address = {New York, NY :},
	edition = {3rd ed.},
	url = {http://www.loc.gov/catdir/toc/fy0707/2006927795.html}
}