A. Y. B. Hashim, S. H. Kamsani, M. M. Ali, S. Shamsuddin, and A. Z. Shukor "Simulation and Reproduction of a Manipulator According to Classical Arm Representation and Trajectory Planning", Advances in Science, Technology and Engineering Systems Journal, vol. 4, no. 6, pp. 158–162, 2019, doi: 10.25046/aj040619.