@ARTICLE{I._Duleba_Suboptimal_2017, author={I. Duleba and I. Karcz-Duleba}, volume={65}, number={No 2}, journal={Bulletin of the Polish Academy of Sciences Technical Sciences}, pages={209-217}, howpublished={online}, year={2017}, title={Suboptimal approximations in repeatable inverse kinematics for robot manipulators}, URL={http://journals.pan.pl/Content/105712/PDF/10.1515bpasts-2017-0025.pdf}, doi={10.1515/bpasts-2017-0025}, }