Medical Robotics Book
Cyted – Acción Opensurg, 2013
I.S.B.N. 978-84-15413-12-7
Free to download at http://roboticamedica.umh.es
R.Saltarén, J.M. Sabater, M.Almonacid, J.M. Azorin. Ed. Gráficas Limencop S.L., 2000
This book contains exercices for the solution with Matlab of serial robots. The used examples are a 4 d.o.f. prismatic robot and a 6 d.o.f. anthropomorphic robot.  This book has been used at  Universidad Miguel Hernández, at Universidad Politécnica de Cartagena and at  Universidad Politécnica de Madrid.
Exercices can be downloaded here: