Geodesic
Motions of a Short-Linked Robot Arm in a Square.
Discrete & computational geometry, Tome 7 (1992) no. 4, pp. 69-76.

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Mots-clés : movements of multilink robot arms in two dimensions, computational complexity of motion-planning problems 
@article{DCG_1992__7_4_131181,
     author = {V. Kantabutra},
     title = {Motions of a {Short-Linked} {Robot} {Arm} in a {Square.}},
     journal = {Discrete & computational geometry},
     pages = {69--76},
     publisher = {mathdoc},
     volume = {7},
     number = {4},
     year = {1992},
     zbl = {0742.68032},
     url = {http://geodesic.mathdoc.fr/item/DCG_1992__7_4_131181/}
}
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V. Kantabutra. Motions of a Short-Linked Robot Arm in a Square.. Discrete & computational geometry, Tome 7 (1992) no. 4, pp. 69-76. http://geodesic.mathdoc.fr/item/DCG_1992__7_4_131181/