@misc{indiciae03a87f6d57fe,
  title = {A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators.},
  author = {Krzysztof Tchoń and Janusz Jakubiak},
  year = {2005},
  doi = {10.1109/tsmcb.2005.848495},
  url = {https://pubmed.ncbi.nlm.nih.gov/16240778/},
  note = {Source identifier: 16240778}
}