Remote Surface Inspectin with via-frame specification of trajectories for 8 DOF manipulator control. Both simulation and experimental results are presented. Algorithm details may be found in: R. Volpe, Task Space Velocity Blending for Real-Time Trajectory Generation
, IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, May 2-7 1993. Also, U.S. Patent No. 5602968.