A. A. Ghukasian and T. A. Simonian, “GAME APPROACH FOR DOUBLE LlNK MANIPULATOR MOVEMENT”, Proc. YSU A: Phys. Math. Sci., vol. 35, no. 3 (196), pp. 49–56, Oct. 2001, doi: 10.46991/PYSUA.2001.35.3.049.