Said M. Megahed. Inverse kinematics of spherical wrist robot arms: Analysis and simulation. Journal of Intelligent and Robotic Systems, 5(3):211-227, 1992. [doi]
@article{Megahed92-0,
title = {Inverse kinematics of spherical wrist robot arms: Analysis and simulation},
author = {Said M. Megahed},
year = {1992},
doi = {10.1007/BF00247418},
url = {http://dx.doi.org/10.1007/BF00247418},
tags = {analysis},
researchr = {https://researchr.org/publication/Megahed92-0},
cites = {0},
citedby = {0},
journal = {Journal of Intelligent and Robotic Systems},
volume = {5},
number = {3},
pages = {211-227},
}