For citations:

Pritykin F.N., Nefedov D.E. Study of the Surfaces Defining the Area Boundaries of the Allowable Configurations of the Mobile Manipulator Mechanism with the Available Forbidden Zones. Mekhatronika, Avtomatizatsiya, Upravlenie. 2016;17(6):407-413. (In Russ.) https://doi.org/10.17587/mau.17.407-413