Ben Ayed, M., L. Zouari, and M. Abid. “Software In the Loop Simulation for Robot Manipulators”. Engineering, Technology & Applied Science Research 7, no. 5 (October 19, 2017): 2017–2021. Accessed September 28, 2021. https://etasr.com/index.php/ETASR/article/view/1285.