i wouldn't use any of them for actual darkbasic animation personally ... however milkshape is a good cheap modeling solution.
before you think about animations too deeply and buying alot of programs to achieve what you like, alot of the time your game will demand that you try to keep files sizes and model components to a minimum.
Now no matter if your using DarkBasic Standard|Enhanced|Professional alike, developing a skeletal animator for use with Hierachy and|or Complete Mesh animation is one of the better options.
Now unless you plan to develop an importer complete for Milkshape format or something, it is quite simple to make a series of data points which relate as virtual bones with an XYZ point and then a vertex->bone attachment array.
There are a few demos around where the Virtual Bone data within BVH format has been imported into DarkBasic Standard and using a simple Limb->Joint link been able to use them to create some rather nice animations ... the principals behind that are no different when working with mesh and memblocks.
Research the matter slightly before making up your mind, because developing your own format to accomidate for animation and models has alot of rewards
Anata aru kowagaru no watashi!