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Teaching forward kinematics in a robotics course using simu..:

González-García, Salvador ; Rodríguez-Arce, Jorge ; Loreto-Gómez, Gerardo.
International Journal on Interactive Design and Manufacturing (IJIDeM).  14 (2020)  3 - p. 773-787 , 2020
Link: https://doi.org/10.1007/s12008-020-00670-z