@article{NSJOM_1993_23_2a_28,
     author = {Surla 

 Du\v{s}an and Rackovi\'c Milo\v{s}},
     title = {Planing of the trajectory 

 for the tip of non-redundant robotic mechanisms in the presence of obstacles},
     journal = {Novi Sad Journal of Mathematics},
     pages = {331-344},
     publisher = {mathdoc},
     volume = {23},
     number = {2},
     year = {1993},
     url = {http://geodesic.mathdoc.fr/item/NSJOM_1993_23_2a_28/}
}