Ali Mohammed, M., et al. “Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs”. Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 10, no. 4, Sept. 2016, pp. 40-52, https://doi.org/10.14313/JAMRIS_4-2016/30.