@article{antonelli2011constrained,
	year         = 2011,
	author       = {Antonelli, Gianluca and Curatella, C. and Marino, Alessandro},
	title        = {Constrained motion planning for open-chain industrial robots},
	journal      = {ROBOTICA},
	volume       = 29,
	doi          = {10.1017/S026357471000024X},
	pages        = {403--420},
	number       = 3
}

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