Jadran Lenarcic. An efficient numerical approach for calculating the inverse kinematics for robot manipulators. Robotica, 3(1):21-26, 1985. [doi]
@article{Lenarcic85,
title = {An efficient numerical approach for calculating the inverse kinematics for robot manipulators},
author = {Jadran Lenarcic},
year = {1985},
doi = {10.1017/S0263574700001430},
url = {http://dx.doi.org/10.1017/S0263574700001430},
researchr = {https://researchr.org/publication/Lenarcic85},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {3},
number = {1},
pages = {21-26},
}