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Laser triangulation sensor and six axes anthropomorphic rob..:

Brosed, F.J. ; Santolaria, J. ; Aguilar, J.J..
Robotics and Computer-Integrated Manufacturing.  28 (2012)  6 - p. 660-671 , 2012
Link: https://doi.org/10.1016/j.rcim.2012.04.002