If I understand correctly, you rounded off the head of a bolt that's hard to get to. If you can't get a pair of vice grips in there you'll have to kill the bolt head or try that special tool that I have never used.
If you decide to kill the bolt head, you have several options. The easiest, but probably not usable in your situation, cure would be to weld something to the top of the bolt (like another bolt) that you could then use a socket wrench on. Your best option would probably be to drill a hole in the top of the bolt, then use an extractor. The basic idea is that you drill down into the bolt, then take the extractor (just a square rod of hardened steel that's tapered near one end) and pound it into the hole you drilled. You then use a wrench to turn the extractor, which turns the bolt and takes it out. If all else fails, drill through the bolt completely, then run a tap through the hole to rethread it for a larger bolt.