An educational tool for 6-DOF industrial robots with quaternion algebra

@article{akir2007AnET,
  title={An educational tool for 6-DOF industrial robots with quaternion algebra},
  author={Mustafa Çakir and Erhan B{\"u}t{\"u}n},
  journal={Comp. Applic. in Engineering Education},
  year={2007},
  volume={15},
  pages={143-154}
}
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