Eleftheria S. Sergaki George S. Stavrakakis Anastasios D. Pouliezos Optimal Robot Speed Trajectory by Minimization of the Actuator Motor Electromechanical Losses. 187-207 2002 33 Journal of Intelligent and Robotic Systems 2 http://dx.doi.org/10.1023/A:1014643401778 db/journals/jirs/jirs33.html#SergakiSP02