A comparison between the Denavit–Hartenberg and the screw-based methods used in kinematic modeling of robot manipulators
Rocha, C.R. ; Tonetto, C.P. ; Dias, A.
Robotics and computer-integrated manufacturing, 2011-08, Vol.27 (4), p.723-728 [Periódico revisado por pares]Elsevier Ltd
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