Ali, Ahmed Abdul Hussain. “Minimizing Error in Robot Arm Based on Design Optimization for High Stiffness to Weight Ratio”. Al-Khwarizmi Engineering Journal 4, no. 1 (March 1, 2008): 17–26. Accessed December 24, 2025. https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/528.