@Article{LIS24,<br>title = {A Simple Motion Planning Algorithm for General Robot Manipulators},<br>author = {Tomas Lozano-Perez},<br>year = {1987},<br>url = {http://lis.csail.mit.edu/pubs/tlp/simple-motion-planning.pdf},<br>journal = {IEEE Journal of Robotics and Automation},<br>volume = {3},<br>number = {3},<br>pages = {224--238},<br>}