RATAJCZAK, Adam; JANIAK, Mariusz. Motion planning of the underactuated manipulators with friction in constrained state space. Journal of Automation, Mobile Robotics and Intelligent Systems, [S. l.], v. 5, n. 3, p. 33–40, 2013. Disponível em: https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/172. Acesso em: 15 may. 2025.