Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences. - Christian Lehmann; Marcel Halbauer; Dirk Euhus; Daniel Overbeck (ETFA, 2012)

Milling strategies optimized for industrial robots to machine hard materials. - Marcel Halbauer; Christian Lehmann; Jost Philipp Städter; Ulrich Berger 002; Francesco Leali (ETFA, 2013)

Robot Joint Modeling and Parameter Identification Using the Clamping Method. - Christian Lehmann; Bjorn Olofsson; Klas Nilsson; Marcel Halbauer; Mathias Haage; Anders Robertsson; Olof Sörnmo; Ulrich Berger 002 (MIM, 2013)