Essential Properties of Numerical Integration for Time-Optimal Path-Constrained Trajectory Planning - Shen, Peiyao; Zhang, Xuebo; Fang, Yongchun (IEEE robotics and automation letters, 2017)
Keywords: Acceleration; Kinematics; Manipulation planning; motion and path planning; Nickel; numerical integration; Planning; properties with rigorous proofs; Switches; time-optimal trajectory planning; Torque; Trajectory