00289    a2200109   4500020001500000082001700015100002300032245005000055260004100105300002200146650001100168  a8120310470  a629.892bSCH  aSchilling, Robert   aFundamentals of robotics analysis and control  aNew DelhibPrentice hallc1990g2003  axix, 425p.c24cm.  aRobots