For citations:

Bogdanov D.R., Darintsev O.V. Kinematics of a Manipulator with a Controlled Bending on the Basis of Solid Elements with a Spherical Surface. Mekhatronika, Avtomatizatsiya, Upravlenie. 2015;16(10):671-678. (In Russ.) https://doi.org/10.17587/mau.16.671-678