Direct step-by-step method for industrial robot path planning. - Francisco Rubio 002; Francisco Valero 001; Joseph Lluís Sunyer; Vicente Mata (Ind. Robot, 2009)

The simultaneous algorithm and the best interpolation function for trajectory planning. - Francisco Rubio 002; Francisco Valero 001; Joseph Lluís Sunyer; Antonio Garrido 002 (Ind. Robot, 2010)

Optimal time trajectories for industrial robots with torque, power, jerk and energy consumed constraints. - Francisco Rubio 002; Francisco Valero 001; Joseph Lluís Sunyer; Juan I. Cuadrado (Ind. Robot, 2012)