Differential analysis of bifurcations and isolated singularities for robots and mechanisms. - Jon C. Kieffer (IEEE Trans. Robotics Autom., 1994)

Fasat Pick and Place at Robot Singularities. - Jon C. Kieffer; Aidan J. Cahill (ICRA, 1995)

Robust time-optimal trajectory planning for robot manipulators. - Aidan J. Cahill; Jon C. Kieffer; Matthew R. James (ICRA, 1996)

Closed-loop trajectory generation for robust time-optimal path tracking. - Jon C. Kieffer; Aidan J. Cahill; Matthew R. James (ICRA, 1996)

Robust and accurate time-optimal path-tracking control for robot manipulators. - Jon C. Kieffer; Aidan J. Cahill; Matthew R. James (IEEE Trans. Robotics Autom., 1997)