@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://ochroma.man.poznan.pl/Content/105712/PDF/10.1515bpasts-2017-0025.pdf},
 doi={10.1515/bpasts-2017-0025},
}