Motoji Yamamoto, Yukihiro Isshiki, Akira Mohri. Collision free minimum time trajectory planning for manipulators using global search and gradient method. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994, September 12 - 16, 1994, Munich, Germany. pages 2184-2191, IEEE, 1994. [doi]
Abstract is missing.