A direct Algorithm to Compute Switching Curve for Time Optimal Motion of Cooperative Multi-Manipulators Moving on Specified Path

M. J. Sadigh, M. H. Ghasemi, and M. Keshmiri, "A direct Algorithm to Compute Switching Curve for Time Optimal Motion of Cooperative Multi-Manipulators Moving on Specified Path”, Proceedings of13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics, 27-30 August 2007, Poland.