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Time optimal trajectory planning for robotic manipulators w..:

, In: Proceedings. 1986 IEEE International Conference on Robotics and Automation,
Dubowsky, S. ; Norris, M. ; Shiller, Z. - p. 1906,1907,1908,1909,1910,1911,1912 , 1986
Link: https://doi.org/10.1109/ROBOT.1986.1087434