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Optimization method of tool axis vector based on kinematica..:

Ma, Jian-wei ; Hu, Guo-qing ; Qin, Feng-ze..
The International Journal of Advanced Manufacturing Technology.  100 (2018)  5-8 - p. 2007-2020 , 2018
Link: https://doi.org/10.1007/s00170-018-2738-7