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Motion planning method for complex three dimensional path welding
ZENG Jinle, DU Dong, CHANG Baohua, HONG Yuxiang, CHANG Shuhe, PAN Jiluan
Journal of Tsinghua University(Science and Technology) . 2016, (10): 1031 -1036 .  DOI: 10.16511/j.cnki.qhdxxb.2016.22.034