A. Affouard, E. Duc, C. Lartigue, J. Langeron, and P. Et-bourdet, Avoiding 5-axis singularities using tool path deformation, International Journal of Machine Tools and Manufacture, vol.44, issue.4, pp.415-425, 2004.
DOI : 10.1016/j.ijmachtools.2003.10.008

J. Angeles, « Fundamentals of Robotics Mechanical Systems : Theory, Methods, and Algorithms, p.48, 2002.
DOI : 10.1007/b97597

H. Asada and J. E. Et-slotine, « Robot analysis and control (cf, p.41, 1986.

R. Béarée, « Prise en compte des phénomènes vibratoires dans la génération de commande des machines-outils à dynamique élevée, Thèse de doctorat : Ecole Nationale Supérieure d'Arts et Métiers -Centre de Lille (cf, p.13, 2005.

R. Béarée and A. Et-olabi, Dissociated jerk-limited trajectory applied to time-varying vibration reduction, Robotics and Computer-Integrated Manufacturing, vol.29, issue.2, pp.444-453, 2013.
DOI : 10.1016/j.rcim.2012.09.014

H. Barki, F. Denis, and F. Et-dupont, Contributing vertices-based Minkowski sum computation of convex polyhedra, Computer-Aided Design, vol.41, issue.7, pp.525-538, 2009.
DOI : 10.1016/j.cad.2009.03.008
URL : https://hal.archives-ouvertes.fr/hal-01437644

B. Bayle, « Modélisation et commande cinématiques des manipulateurs mobiles à roues, Thèse de doctorat, p.47, 2001.

X. Beudaert, « Commande numérique ouverte : interpolation optimisée pour l'usinage 5 axes grande vitesse des surfaces complexes, Thèse de doctorat : Ecole Normale Supérieure de Cachan (cf. p. 2, 15, pp.17-20, 2013.

X. Beudaert, P. Pechard, and C. Et-tournier, 5-Axis tool path smoothing based on drive constraints, International Journal of Machine Tools and Manufacture, vol.51, issue.12, pp.958-965, 2011.
DOI : 10.1016/j.ijmachtools.2011.08.014
URL : https://hal.archives-ouvertes.fr/hal-00626187

Q. Bi, Y. Wang, and H. Et-ding, A GPU-based algorithm for generating collision-free and orientation-smooth five-axis finishing tool paths of a ball-end cutter, International Journal of Production Research, vol.48, issue.4, pp.1105-1124, 2010.
DOI : 10.1080/00207540050117350

E. L. Bohez, Five-axis milling machine tool kinematic chain design and analysis, International Journal of Machine Tools and Manufacture, vol.42, issue.4, pp.505-520, 2002.
DOI : 10.1016/S0890-6955(01)00134-1

E. L. Bohez, S. S. Makhanov, and K. Et-sonthipermpoon, Adaptive nonlinear tool path optimization for five-axis machining, International Journal of Production Research, vol.38, issue.17, pp.4329-4343, 2000.
DOI : 10.1080/00207540050205127

D. Boisselier, S. Sankaré, and T. Et-engel, Improvement of the Laser Direct Metal Deposition Process in 5-axis Configuration, Physics Procedia, vol.56, pp.239-249, 2014.
DOI : 10.1016/j.phpro.2014.08.168

T. Bonnemains, « Etude du comportement mécanique des machines outils à structure parallèle en Usinage Grande Vitesse, Thèse de doctorat : Université Blaise Pascal -Clermont II (cf, p.13, 2009.

S. Briot, A. Pashkevich, and D. Et-chablat, Optimal technology-oriented design of parallel robots for high-speed machining applications, 2010 IEEE International Conference on Robotics and Automation, p.53, 2010.
DOI : 10.1109/ROBOT.2010.5509543
URL : https://hal.archives-ouvertes.fr/hal-00451898

C. Castagnetti, « Amélioration du comportement cinématique des machines par l'optimisation des trajets d'usinage 5 axes, Thèse de doctorat : Université Blaise Pascal -Clermont II (cf, p.34, 2008.

C. Castagnetti, E. Duc, and P. Et-ray, The Domain of Admissible Orientation concept: A new method for five-axis tool path optimisation, Computer-Aided Design, vol.40, issue.9, pp.938-950, 2008.
DOI : 10.1016/j.cad.2008.07.002

J. Chaves-jacob, J. Linares, and J. Et-sprauel, Improving tool wear and surface covering in polishing via toolpath optimization, Journal of Materials Processing Technology, vol.213, issue.10, pp.1661-1668, 2013.
DOI : 10.1016/j.jmatprotec.2013.04.005
URL : https://hal.archives-ouvertes.fr/hal-01440252

L. Chen, K. Xu, and K. Et-tang, Collision-free tool orientation optimization in five-axis machining of bladed disk, Journal of Computational Design and Engineering, vol.2, issue.4, pp.197-205, 2015.
DOI : 10.1016/j.jcde.2015.06.001

C. Chiou and Y. Et-lee, A machining potential field approach to tool path generation for multi-axis sculptured surface machining, Computer-Aided Design, vol.34, issue.5, pp.357-371, 2002.
DOI : 10.1016/S0010-4485(01)00102-6

B. Denkena, B. Böß, and P. Et-hoppe, « Optimization of non-cutting tool paths ». CIRP CMMO (cf, p.31, 2011.

S. Ding, M. A. Mannan, A. N. Poo, D. C. Yang, and Z. Et-han, The implementation of adaptive isoplanar tool path generation for the machining of free-form surfaces, The International Journal of Advanced Manufacturing Technology, vol.35, issue.7-8, pp.852-860, 2005.
DOI : 10.1007/s00170-004-2058-y

K. L. Doty, C. Melchiorri, E. M. Schwartz, and C. Et-bonivento, Robot manipulability, IEEE Transactions on Robotics and Automation, vol.11, issue.3, pp.462-468, 1995.
DOI : 10.1109/70.388791

R. Dwivedi and R. Et-kovacevic, An expert system for generation of machine inputs for laser-based multi-directional metal deposition, International Journal of Machine Tools and Manufacture, vol.46, issue.14, pp.1811-1822, 2006.
DOI : 10.1016/j.ijmachtools.2005.11.008

K. Erkorkmaz and Y. Et-altintas, High speed CNC system design. Part I: jerk limited trajectory generation and quintic spline interpolation, International Journal of Machine Tools and Manufacture, vol.41, issue.9, pp.1323-1345, 2001.
DOI : 10.1016/S0890-6955(01)00002-5

K. Fukuda, From the zonotope construction to the Minkowski addition of convex polytopes, Journal of Symbolic Computation, vol.38, issue.4, pp.1261-1272, 2004.
DOI : 10.1016/j.jsc.2003.08.007

A. Gasparetto and V. Et-zanotto, A technique for time-jerk optimal planning of robot trajectories, Robotics and Computer-Integrated Manufacturing, vol.24, issue.3, pp.415-426, 2008.
DOI : 10.1016/j.rcim.2007.04.001

P. Gilles, G. Cohen, F. Monies, and W. Et-rubio, « Torus cutter positioning in five-axis milling using balance of the transversal cutting force ». The International Journal of Advanced Manufacturing Technology, pp.965-973, 2013.

L. Grandguillaume, S. Lavernhe, and C. Et-tournier, Kinematical Smoothing of Rotary Axis near Singularity Point, 12th International conference on High Speed Machining (cf, p.24, 2015.
DOI : 10.4028/www.scientific.net/MSF.836-837.501
URL : https://hal.archives-ouvertes.fr/hal-01223135

L. Grandguillaume, S. Lavernhe, and C. Et-tournier, A tool path patching strategy around singular point in 5-axis ball-end milling, International Journal of Production Research, vol.54, issue.24, pp.1-11, 2016.
DOI : 10.1016/j.ijmachtools.2013.09.002
URL : https://hal.archives-ouvertes.fr/hal-01365996

P. Gupta, R. Janardan, J. Majhi, and T. Et-woo, « Efficient geometric algorithms for workpiece orientation in 4-and 5-axis NC-machining, 4th International Workshop, WADS '95, p.71, 1995.

W. He, M. Lei, and H. Et-bin, « Iso-parametric CNC tool path optimization based on adaptive grid generation ». The International Journal of Advanced Manufacturing Technology, pp.538-548, 2009.

M. Ho, Y. Hwang, and C. Hu, Five-axis tool orientation smoothing using quaternion interpolation algorithm, International Journal of Machine Tools and Manufacture, vol.43, issue.12, pp.1259-1267, 2003.
DOI : 10.1016/S0890-6955(03)00107-X

Y. Hosseinkhani, J. Akbari, and A. Vafaeesefat, Penetration???elimination method for five-axis CNC machining of sculptured surfaces, International Journal of Machine Tools and Manufacture, vol.47, issue.10, pp.1625-1635, 2007.
DOI : 10.1016/j.ijmachtools.2006.11.002

P. Hu and K. Et-tang, Improving the dynamics of five-axis machining through optimization of workpiece setup and tool orientations, Computer-Aided Design, vol.43, issue.12, pp.1693-1706, 2011.
DOI : 10.1016/j.cad.2011.09.005

P. Hu and K. Et-tang, Five-axis tool path generation based on machine-dependent potential field, International Journal of Computer Integrated Manufacturing, vol.18, issue.19, pp.636-651, 2016.
DOI : 10.1007/s001700200231

P. Hu, K. Tang, and C. H. Et-lee, Global obstacle avoidance and minimum workpiece setups in five-axis machining, Computer-Aided Design, vol.45, issue.10, pp.1222-1237, 2013.
DOI : 10.1016/j.cad.2013.05.007

P. Hu, L. Chen, and K. Et-tang, Efficiency-optimal iso-planar tool path generation for five-axis finishing machining of freeform surfaces, Computer-Aided Design, vol.83, issue.36, pp.33-50, 2017.
DOI : 10.1016/j.cad.2016.10.001

M. M. Isnaini, R. Sato, and K. Et-shirase, Workpiece Setup Simulation based on Machinable Space of Five-axis Machining Centers, Procedia CIRP, vol.14, pp.257-262, 2014.
DOI : 10.1016/j.procir.2014.03.008

C. Jun, K. Cha, and Y. Et-lee, Optimizing tool orientations for 5-axis machining by configuration-space search method, Computer-Aided Design, vol.35, issue.6, pp.549-566, 2003.
DOI : 10.1016/S0010-4485(02)00077-5

Y. H. Jung, D. W. Lee, J. S. Kim, and H. S. Mok, NC post-processor for 5-axis milling machine of table-rotating/tilting type, Journal of Materials Processing Technology, vol.130, issue.131, pp.130-131, 2002.
DOI : 10.1016/S0924-0136(02)00725-2

W. Khalil and E. Et-dombre, « Modélisation, identification et commande des robots ». Hermès, collection Robotique, pp.2-41, 1999.

T. Kim and S. E. Sarma, Toolpath generation along directions of maximum kinematic performance; a first cut at machine-optimal paths, Computer-Aided Design, vol.34, issue.6, pp.453-468, 2002.
DOI : 10.1016/S0010-4485(01)00116-6

Y. Kim, G. Elber, M. Barto?, and H. Et-pottmann, Precise gouging-free tool orientations for 5-axis CNC machining, Computer-Aided Design, vol.58, pp.220-229, 2015.
DOI : 10.1016/j.cad.2014.08.010
URL : http://repository.kaust.edu.sa/kaust/bitstream/10754/555968/1/two-contact-tool-path.pdf

A. Klimchik, A. Ambiehl, S. Garnier, B. Furet, and A. Et-pashkevich, Efficiency evaluation of robots in machining applications using industrial performance measure, Robotics and Computer-Integrated Manufacturing, vol.48, pp.12-29, 2017.
DOI : 10.1016/j.rcim.2016.12.005
URL : https://hal.archives-ouvertes.fr/hal-01691345

F. Klocke and R. Et-zunke, « Removal mechanisms in polishing of silicon based advanced ceramics ». CIRP Annals -Manufacturing Technology, pp.491-494, 2009.

G. H. Kumazawa, H. Feng, and M. J. Et-barakchi-fard, Preferred feed direction field: A new tool path generation method for efficient sculptured surface machining, Computer-Aided Design, vol.67, issue.68, pp.67-68, 2015.
DOI : 10.1016/j.cad.2015.04.011

V. Lacharnay, « Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision, Thèse de Doctorat, 2014.

J. Langeron, E. Duc, C. Lartigue, and P. Bourdet, A new format for 5-axis tool path computation, using Bspline curves, Computer-Aided Design, vol.36, issue.12, pp.1219-1229, 2004.
DOI : 10.1016/j.cad.2003.12.002

S. Lavernhe, C. Tournier, and C. Et-lartigue, Optimization of 5-axis high-speed machining using a surface based approach, Computer-Aided Design, vol.40, issue.10-11, pp.1015-1023, 2008.
DOI : 10.1016/j.cad.2008.08.006
URL : https://hal.archives-ouvertes.fr/hal-00373701

W. T. Lei and . Hsu, Accuracy enhancement of five-axis CNC machines through real-time error compensation, International Journal of Machine Tools and Manufacture, vol.43, issue.9, pp.871-877, 2003.
DOI : 10.1016/S0890-6955(03)00089-0

S. X. Li and R. B. Et-jerard, 5-axis machining of sculptured surfaces with a flat-end cutter, Computer-Aided Design, vol.26, issue.3, pp.165-178, 1994.
DOI : 10.1016/0010-4485(94)90040-X

X. Liu, Y. Li, S. Ma, and C. Et-lee, A tool path generation method for freeform surface machining by introducing the tensor property of machining strip width, Computer-Aided Design, vol.66, pp.1-13, 2015.
DOI : 10.1016/j.cad.2015.03.003

J. P. Merlet, Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots, Journal of Mechanical Design, vol.46, issue.1, pp.199-206, 2005.
DOI : 10.1016/S0094-114X(03)00067-3

N. Chabane and K. , « Exploitation de la redondance pour la commande coordonnée d'un manipulateur mobile d'assistance aux personnes handicapées, Thèse de Doctorat, p.47, 2006.

Y. Nakamura, « Advanced robotics : redundancy and optimization, pp.9780201151985-47, 1990.

A. Olabi, R. Béarée, O. Gibaru, and M. Et-damak, Feedrate planning for machining with industrial six-axis robots, Control Engineering Practice, vol.18, issue.5, pp.471-482, 2010.
DOI : 10.1016/j.conengprac.2010.01.004
URL : https://hal.archives-ouvertes.fr/hal-00992192

S. C. Park, Tool-path generation for Z -constant contour machining, Computer-Aided Design, vol.35, issue.1, pp.27-36, 2003.
DOI : 10.1016/S0010-4485(01)00173-7

S. Pateloup, « Modélisations et aptitudes à l'emploi des machines-outils à structure parallèle : vers une optimisation dirigée du processus, Thèse de doctorat : Université Blaise Pascal -Clermont II (cf, p.31, 2011.

P. Pechard, « Génération de trajectoires d'usinage grande vitesse 5 axes par flanc d'outil : intégration d'un critère de fluidité, Thèse de doctorat : Ecole Normale, 2009.

X. Pessoles and C. Et-tournier, Automatic polishing process of plastic injection molds on a 5-axis milling center, Journal of Materials Processing Technology, vol.209, issue.7, pp.3665-3673, 2009.
DOI : 10.1016/j.jmatprotec.2008.08.034
URL : https://hal.archives-ouvertes.fr/hal-00466655

X. Pessoles, Y. Landon, S. Segonds, and W. Et-rubio, « Optimisation of workpiece setup for continuous five-axis milling : application to a five-axis BC type machining centre ». The International Journal of Advanced Manufacturing Technology, pp.67-79, 2013.

D. Prat, « Développement et modélisation de stratégies de fraisage 5 axes de finition - Application à l'usinage de veines fermées, Thèse de doct. Ecole Nationale Supérieure d'Arts et Métiers (cf, p.27, 2014.

Y. Quinsat, S. Lavernhe, and C. Et-lartigue, Characterization of 3D surface topography in 5-axis milling, Wear, vol.271, issue.3-4, pp.590-595, 2011.
DOI : 10.1016/j.wear.2010.05.014
URL : https://hal.archives-ouvertes.fr/hal-00999713

R. Ramesh, M. A. Mannan, and A. N. Et-poo, Error compensation in machine tools ??? a review, International Journal of Machine Tools and Manufacture, vol.40, issue.9, pp.1235-1256, 2000.
DOI : 10.1016/S0890-6955(00)00009-2

M. Rauch and X. Et-xu, Five-axis machining: technologies and challenges, International Journal of Manufacturing Research, vol.5, issue.3, pp.327-352, 2010.
DOI : 10.1504/IJMR.2010.033470
URL : https://hal.archives-ouvertes.fr/hal-00501494

M. T. Rosenstein and R. A. Et-grupen, Velocity-dependent dynamic manipulability, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), p.64, 2002.
DOI : 10.1109/ROBOT.2002.1013595
URL : http://www.cs.umass.edu/~mtr/papers/RosensteinM02.ps.gz

B. Sencer, Y. Altintas, and E. Et-croft, Feed optimization for five-axis CNC machine tools with drive constraints, International Journal of Machine Tools and Manufacture, vol.48, issue.7-8, pp.733-745, 2008.
DOI : 10.1016/j.ijmachtools.2008.01.002

K. Sørby, Inverse kinematics of five-axis machines near singular configurations, International Journal of Machine Tools and Manufacture, vol.47, issue.2, pp.299-306, 2007.
DOI : 10.1016/j.ijmachtools.2006.03.011

C. Sun and Y. Et-altintas, Chatter free tool orientations in 5-axis ball-end milling, International Journal of Machine Tools and Manufacture, vol.106, pp.89-97, 2016.
DOI : 10.1016/j.ijmachtools.2016.04.007

M. Terrier, « Optimisation du processus de fabrication en Usinage à Grande Vitesse sur machines-outils à structure parallèle, Thèse de doctorat : Ecole Centrale de Nantes -Université de Nantes (cf, p.14, 2005.
DOI : 10.1051/meca:2005051

C. Tournier and E. Et-duc, A Surface Based Approach for Constant Scallop HeightTool-Path Generation, The International Journal of Advanced Manufacturing Technology, vol.19, issue.5, pp.318-324, 2001.
DOI : 10.1007/s001700200019

C. Tournier and E. Et-duc, Iso-scallop tool path generation in 5-axis milling, The International Journal of Advanced Manufacturing Technology, vol.29, issue.9-10, pp.867-875, 2005.
DOI : 10.1007/s00170-003-2054-7
URL : https://hal.archives-ouvertes.fr/hal-01076659

C. Tournier, C. Castagnetti, S. Lavernhe, and F. Et-avellan, « Tool path generation and postprocessor issues in five-axis high speed machining of hydro turbine blades, Fifth International Conference on High Speed Machining, p.24, 2006.

M. Vulliez, S. Lavernhe, and O. Et-bruneau, « Dynamic approach of the feedrate interpolation for trajectory planning process in multi-axis machining ». The International Journal of Advanced Manufacturing Technology, pp.1-12, 2016.

M. Weck and D. Et-staimer, « Parallel kinematic machine tools ? Current state and future potentials ». CIRP Annals -Manufacturing Technology, pp.671-683, 2002.
DOI : 10.1016/s0007-8506(07)61706-5

X. Wu, Y. Kita, and K. Et-ikoku, New polishing technology of free form surface by GC, Journal of Materials Processing Technology, vol.187, issue.188, pp.81-84, 2007.
DOI : 10.1016/j.jmatprotec.2006.11.218

J. Yang and Y. Et-altintas, Generalized kinematics of five-axis serial machines with non-singular tool path generation, International Journal of Machine Tools and Manufacture, vol.75, pp.119-132, 2013.
DOI : 10.1016/j.ijmachtools.2013.09.002

T. Yoshikawa, Manipulability of Robotic Mechanisms, Manipulability of Robotic Mechanisms, pp.3-9, 1985.
DOI : 10.1177/027836498200100102

Z. ?-ebala, W. Plaza, and M. , « Comparative study of 3-and 5-axis CNC centers for free-form machining of difficult-to-cut material », International Journal of Production Economics, vol.158, pp.345-358, 2014.

K. Zhang and K. Et-tang, « Optimal five-axis tool path generation algorithm based on double scalar fields for freeform surfaces ». The International Journal of Advanced Manufacturing Technology, pp.1503-1514, 2016.

X. Zhang, J. Zhang, B. Pang, and W. Et-zhao, An accurate prediction method of cutting forces in 5-axis flank milling of sculptured surface, International Journal of Machine Tools and Manufacture, vol.104, pp.26-36, 2016.
DOI : 10.1016/j.ijmachtools.2015.12.003

G. M. Ziegler, « Lectures on polytopes, pp.978-978, 1995.
DOI : 10.1007/978-1-4613-8431-1