Ramirez Henao, Juan Camilo, and Leonardo Duque Muñoz. “Optimization of Manipulability and Electricity Consumption Through the Heuristic Kalman Algorithm in Serial Manipulators”. Ingeniería Y Ciencia, vol. 11, no. 21, Jan. 2015, pp. 51-71, https://doi.org/10.17230/ingciencia.11.21.3.