[IEEE 1997 IEEE International Symposium on Assembly and Task Planning (ISATP'97) - Towards Flexible and Agile Assembly and Manufacturing - - Marina del Rey, CA, USA (7-9 Aug. 1997)] Proceedings of the 1997 IEEE International Symposium on Assembly and Task Planning (ISATP'97) - Towards Flexible and Agile Assembly and Manufacturing - - Online computing of a robotic manipulator joint trajectory with velocity and acceleration constraints