Ratajczak, Adam, and Mariusz Janiak. “Motion Planning of the Underactuated Manipulators With Friction in Constrained State Space”. Journal of Automation, Mobile Robotics and Intelligent Systems 5, no. 3 (January 22, 2013): 33–40. Accessed May 15, 2025. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/172.