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Solving the kinematics of the most general six and five-degree-of -freedom manipulators by continuation methods. Tsai L W,Morgan A. ASME J Mech Transm Autom Design . 1985
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On the input -output equation of the general 7R mechanism. Primrose E J F. Mechanism and Machine Theory . 1986
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Inverse kinematics of serial chain manipulators. Lee H Y,Reinholtz C F. Journal of Mechanical Design . 1996
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A displacement analysis of the general 7-link 7R mechanism. Duffy J,Crane C. Mechanism and Machine Theory . 1980
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Kinematics: past , present , and future. Freudenstein F. Mechanism and Machine Theory . 1973
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Inverse kinematics of general 6R and 5R, P serial manipulators. Kohli D,Osvatic M. Journal of Mechanical Design . 1993
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Inverse kinematics of the general 6R manipulator and related linkages. Raghavan M,Roth B. Journal of Mechanical Design . 1993