Steven Dubowsky, M. A. Norris, Zvi Shiller. Time optimal trajectory planning for robotic manipulators with obstacle avoidance: A CAD approach. In Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco, California, USA, April 7-10, 1986. pages 1906-1912, IEEE, 1986. [doi]
Abstract is missing.