Mahmoud Tarokh, Mikyung Kim. Inverse Kinematics of 7-DOF Robots and Limbs by Decomposition and Approximation. IEEE Transactions on Robotics, 23(3):595-600, 2007. [doi]
@article{TarokhK07,
title = {Inverse Kinematics of 7-DOF Robots and Limbs by Decomposition and Approximation},
author = {Mahmoud Tarokh and Mikyung Kim},
year = {2007},
doi = {10.1109/TRO.2007.898983},
url = {http://dx.doi.org/10.1109/TRO.2007.898983},
researchr = {https://researchr.org/publication/TarokhK07},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {23},
number = {3},
pages = {595-600},
}