Title:Efficient online computation of smooth trajectories along geometric paths for robotic manipulatorsAuthor(s):Lukas Messner, Hubert Gattringer, Hartmut BremerBooktitle:Multibody System Dynamics, Robotics and ControlPublisher:Springer VerlagEditor(s):Hubert Gattringer, Johannes GerstmayrISBN:978-3-7091-1288-5Page Reference:page 17-30, 13 page(s)Publishing:2013