For citations:
Kartseva A.A., Levin A.A., Vorotnikov A.A., Poduraev Yu.V., Ilyukhin Yu.V. Planning the Trajectory of a Collaborative Robot for Bioprinting. Mekhatronika, Avtomatizatsiya, Upravlenie. 2022;23(12):643-650. (In Russ.) https://doi.org/10.17587/mau.23.643-650