Zhang Xiaodong and  Tang Zixin and  Liu Xin,  Real-time Detection of Space Manipulator Self-collision.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    May 2015, vol. 101(5). 849 - 853
    [viewed 19 April 2024]. Available from: https://publications.waset.org/pdf/10001430.