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Simulation and mathematical modeling of a 4-degree-of-freedom robotic ARM. Ciencias de la Ingeniería y Aplicadas, [S. l.], v. 9, n. 2, p. 144–156, 2025. DOI: 10.61236/ciya.v9i2.1108. Disponível em: https://investigacion.utc.edu.ec/index.php/ciya/article/view/1108. Acesso em: 6 aug. 2026.