Hui Zhang Heping Chen Ning Xi George Zhang Jianmin He On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels. 2400-2405 2006 IROS http://dx.doi.org/10.1109/IROS.2006.281679 conf/iros/2006 db/conf/iros/iros2006.html#ZhangCXZH06