T. Bajd, M. Mihelj, J. Lenarčič, A. Stanovnik, M. Munih, Robotics, Springer, 2010 GEOMETRIC DESCRIPTION OF THE ROBOT MECHANISM T. Bajd and M. Mihelj. - ppt download
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![PDF] A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/2cdf60d4851c198293f42d27daa613ae86927b7a/3-Figure4-1.png "PDF] A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation | Semantic Scholar")
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