Jean-Pierre Merlet, M.-W. Perng, David Daney. Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator.
International symposium on Advances in robot kinematics, May 2000, Piran, Slovenia. pp.315-322,
⟨10.1007/978-94-011-4120-8_33⟩.
⟨hal-00990113⟩