Combined time/location optimization of robotic motions with specified paths and velocity profiles. - Leon Beiner (Robotica, 1989)

Time-optimization of point-to-point robotic motions. - Leon Beiner (Robotersysteme, 1990)

Time optimization of the continuous-path motions of industrial robots. - Leon Beiner (Adv. Robotics, 1991)

Singularity avoidance for SCARA robots. - Leon Beiner (Robotics Auton. Syst., 1992)

Kinematics of a n-bay triangle-triangle variable geometry truss manipulator. - Leon Beiner (Robotica, 1992)

A min-max problem of optimal actuator placement for lifting. - Leon Beiner (Robotica, 1995)

Redundant actuation of a closed-chain manipulator. - Leon Beiner (Adv. Robotics, 1996)

Singularity avoidance for articulated robots. - Leon Beiner (Robotics Auton. Syst., 1997)

An improved pseudoinverse solution for redundant hydraulic manipulators. - Leon Beiner; Jouni Mattila (Robotica, 1999)