For citations:

Strashnov E.V., Michaylyuk M.V. Simulation of Restrictions for the Relative Motion of the Articulated Rigid Bodies in the Virtual Environment Systems. Mekhatronika, Avtomatizatsiya, Upravlenie. 2015;16(10):678-685. (In Russ.) https://doi.org/10.17587/mau.16.678-685