Greg Heinzinger, Paul E. Jacobs, John F. Canny, Bradley Paden. Time-optimal trajectories for a robot manipulator: a provably good approximation algorithm. In Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, USA, May 13-18, 1990. pages 150-156, IEEE, 1990. [doi]
Abstract is missing.