Bounds on the derivatives of the forward kinematic map for open-kinematic-chain manipulators. - Greg Heinzinger; Brad E. Paden (ICRA, 1989)

Bounded error interpolates for manipulators with prismatic and revolute joints. - Greg Heinzinger; Brad E. Paden (ICRA, 1989)

Bounds on robot dynamics. - Greg Heinzinger; Brad E. Paden (ICRA, 1989)

Time-optimal trajectories for a robot manipulator: a provably good approximation algorithm. - Greg Heinzinger; Paul E. Jacobs; John F. Canny; Bradley Paden (ICRA, 1990)