robotic arm - 6DOF serial robot (PUMA robot) dynamic model equations - Robotics Stack Exchange
Human-like behavior of robot arms: general considerations and the handwriting task—Part I: mathematical description of human-like motion: distributed positioning and virtual fatigue - ScienceDirect
Figure 4 from Predictive control of 5 DOF robot arm of autonomous mobile robotic system motion control employing mathematical model of the robot arm dynamics | Semantic Scholar