Murray, R. M., Li, Z., Sastry, S. S., Li, Z. 1., Sastry, S., & Li, Z. (1994). A mathematical introduction to robotic manipulation. Boca Raton: CRC Press.

Murray, Richard M., Zexiang Li, S. Shankar Sastry, Zexiang 1961- Li, Shankar Sastry, and Zexiang Li. A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press, 1994.

Murray, Richard M., et al. A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press, 1994.