# A convex relaxation for the time-optimal trajectory planning of robotic manipulators along predetermined geometric paths

> Research article (Optimal Control Applications and Methods, 2016) · cited 27× · AI/ML

**Wikidata**: [openalex:W2337407423](https://www.wikidata.org/wiki/openalex:W2337407423)  
**Source**: https://4ort.xyz/entity/a-convex-relaxation-for-the-time-optimal-trajectory-planning-of-robotic-manipulators-along-predetermined-geometric-paths