Efficient kinematic transformations for the PUMA 560 robot

@article{Elgazzar1985EfficientKT,
  title={Efficient kinematic transformations for the PUMA 560 robot},
  author={Shadia Elgazzar},
  journal={IEEE J. Robotics and Automation},
  year={1985},
  volume={1},
  pages={142-151}
}

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