@book{77012,
	author = {Angeles, Jorge, and ebrary, Inc.},
	title = {Fundamentals of robotic mechanical systems},
	publisher = {Springer,},
	year = {c2003.},
	series = {Mechanical engineering series},
	address = {New York ;},
	edition = {2nd ed.},
	url = {http://site.ebrary.com/lib/rucke/Doc?id=10047724}
}