URN:NBN:SI:DOC-VG47EVJL1997Lenarčič, JadranNemec, Bojandocuments/doc/V/URN_NBN_SI_doc-VG47EVJL_001.pdfdocuments/doc/V/URN_NBN_SI_doc-VG47EVJL_001.txt214articlestr. 651-6550350-559613007911URN:NBN:SI:doc-VG47EVJLengSlovensko društvo InformatikaInformatica (Ljubljana)InCkibernetikakrmiljenjerobotikaSteepest descent optimisation in the secondary space of redundant manipulators