@article{lanni_saramago_ceccarelli_2002,  title={Optimal design of 3R manipulators by using classical techniques and simulated annealin},  volume={24},  ISSN={0100-7386},  url={https://doi.org/10.1590/S0100-73862002000400007},  DOI={10.1590/S0100-73862002000400007},  number={4},  journal={Journal of the Brazilian Society of Mechanical Sciences},  publisher={The Brazilian Society of Mechanical Sciences},  author={Lanni, C. and Saramago, S. F. P. and Ceccarelli, M.},  year={2002},  month={Nov},  pages={293–301} }