The Kinematics of a Puma Robot using Dual Quaternions. Global Journals of Research in Engineering, [S. l.], v. 20, n. H1, p. 1–18, 2020. Disponível em: https://testing.engineeringresearch.org/index.php/GJRE/article/view/2053. Acesso em: 6 jun. 2026.