Dinesh Manocha, John F. Canny. Efficient inverse kinematics for general 6R manipulators. IEEE Transactions on Robotics, 10(5):648-657, 1994. [doi]
@article{ManochaC94,
title = {Efficient inverse kinematics for general 6R manipulators},
author = {Dinesh Manocha and John F. Canny},
year = {1994},
doi = {10.1109/70.326569},
url = {http://dx.doi.org/10.1109/70.326569},
researchr = {https://researchr.org/publication/ManochaC94},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {10},
number = {5},
pages = {648-657},
}