@article{NSJOM_1998_28_2a_16,
     author = {N. 

 Divljak and M. Rackovi\'c},
     title = {Planning of the trajectory for the tip of redundant robotic mechanisms in 

 the presence of obstacles},
     journal = {Novi Sad Journal of Mathematics},
     pages = {163-171},
     year = {1998},
     volume = {28},
     number = {2},
     url = {http://geodesic.mathdoc.fr/item/NSJOM_1998_28_2a_16/}
}