1. Robot Manipulators: Mathematics, Programming and Control, MIT Press, Cambridge, MA, 1981.
2. Introduction to Robotics, Addison-Wesley, New York, NY, 1985.
3. A Robot Engineering Textbook, Harper and Row, New York, NY, 1987.
4. and , Robot Analysis and Control, John Wiley, New York, NY, 1986.
5. Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics