Motoji Yamamoto, Akira Mohri. Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control). Robotica, 7(1):43-47, 1989. [doi]
@article{YamamotoM89,
title = {Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control)},
author = {Motoji Yamamoto and Akira Mohri},
year = {1989},
doi = {10.1017/S0263574700005026},
url = {http://dx.doi.org/10.1017/S0263574700005026},
researchr = {https://researchr.org/publication/YamamotoM89},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {7},
number = {1},
pages = {43-47},
}