# MDA + RRT: A general approach for resolving the problem of angle constraint for hyper-redundant manipulator

> Research article (Expert Systems with Applications, 2021) · cited 38× · AI/ML

**Wikidata**: [openalex:W4200100883](https://www.wikidata.org/wiki/openalex:W4200100883)  
**Source**: https://4ort.xyz/entity/mda-rrt-a-general-approach-for-resolving-the-problem-of-angle-constraint-for-hyper-redundant-manipulator