Verification and Generation of Safe Straight Paths for a 4-DOF Spherical Manipulator. Tikrit Journal of Engineering Sciences, [S. l.], v. 18, n. 2, p. 72–87, 2011. DOI: 10.25130/tjes.18.2.07. Disponível em: https://tj-es.com/ojs/index.php/tjes/article/view/501.. Acesso em: 9 sep. 2026.