@article{Paj±k:2010,
  author  = "G. Paj±k and I. Paj±k",
  title   = "Collision-free sub-optimal trajectory planning of the redundant manipulators",
  journal = "International Journal of Applied Mechanics and Engineering",
  volume  = "Vol. 15",
  number  = "no 3",
  pages   = "799--810",
  year    = "2010",
}