ROHMAN, Machdiar; SAPUTRA, Dede Irawan. Modeling and Controlling the Actuator Joint Angle Position on the Robot Arm Base Using Discrete PID Algorithm. Ultima Computing : Jurnal Sistem Komputer, [S. l.], v. 13, n. 2, p. 50–56, 2021. DOI: 10.31937/sk.v13i2.2103. Disponível em: https://ejournals.umn.ac.id/index.php/SK/article/view/2103. Acesso em: 3 nov. 2025.