# Combining safety and speed in collaborative assembly systems – An approach to time optimal trajectories for collaborative robots

> Research article (Procedia CIRP, 2021) · cited 17× · AI/ML

**Wikidata**: [openalex:W3132166349](https://www.wikidata.org/wiki/openalex:W3132166349)  
**Source**: https://4ort.xyz/entity/combining-safety-and-speed-in-collaborative-assembly-systems-an-approach-to-time-optimal-trajectories-for-collaborative-