Mathematical Description of the Rotating Error Motion
According to the definitions of the CIRP Unification Document, The locus equations of the rotating center and the average rotating center are deduced, and then, the parameter equations of the rotating axis and the average rotating axis are obtained. All of above verify the definition of the rotating axis of the CIRP Unification Document in theory, and it is also proved clearly that the rotating axis and the average rotating axis are sole.
Guangqi Cai, Xipeng Xu and Renke Kang
L. Zhang and Y. Zhang, "Mathematical Description of the Rotating Error Motion", Key Engineering Materials, Vols. 304-305, pp. 455-459, 2006