Reference:
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Vanderbei, R, Nonlinear Optimization Models.
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Dolan, E D, and More, J J, Benchmarking Optimization Software with COPS.
Tech. rep., Mathematics and Computer Science Division, 2000.
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Source: GAMS Model of robot400.gms
from GAMS GLOBALlib Library
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Initial source: GAMS Model of robot.gms
from GAMS Model Library
Solution: