Generalized Procedure for Determining the Collision-Free Trajectory for a Robotic Arm. Tikrit Journal of Engineering Sciences, [S. l.], v. 30, n. 2, p. 142–151, 2023. DOI: 10.25130/tjes.30.2.15. Disponível em: https://tj-es.com/ojs/index.php/tjes/article/view/1040.. Acesso em: 10 sep. 2026.