@article{technicalreportfastrobotarminverse,
  title = {Fast Robot Arm Inverse Kinematics and Path Planning Under Complex Static and Dynamic Obstacle Constraints},
  author = {David W. Arathorn},
  year = {2019},
  eprint = {1906.10678},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1906.10678v5},
}