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![Cover for Alexander Reiter · Time-Optimal Trajectory Planning for Redundant Robots: Joint Space Decomposition for Redundancy Resolution in Non-Linear Optimization - BestMasters (Paperback Book) [1st ed. 2016 edition] (2016)](https://imusic.b-cdn.net/images/item/original/008/9783658127008.jpg?alexander-reiter-2016-time-optimal-trajectory-planning-for-redundant-robots-joint-space-decomposition-for-redundancy-resolution-in-non-linear-optimization-bestmasters-paperback-book&class=scaled&v=1608764244)