Reliable computation of minimum-time motions for manipulators moving in obstacle fields using a successive search for minimum-overload trajectories.

Jong-keun Park James E. Bobrow Reliable computation of minimum-time motions for manipulators moving in obstacle fields using a successive search for minimum-overload trajectories. 1-14 2005 22 J. Field Robotics 1 http://dx.doi.org/10.1002/rob.20045 db/journals/jfr/jfr22.html#ParkB05