Yusheng T. Tsai, David E. Orin. A strictly convergent real-time solution for inverse kinematics of robot manipulators. J. Field Robotics, 4(4):477-501, 1987. [doi]
@article{TsaiO87,
title = {A strictly convergent real-time solution for inverse kinematics of robot manipulators},
author = {Yusheng T. Tsai and David E. Orin},
year = {1987},
doi = {10.1002/rob.4620040403},
url = {http://dx.doi.org/10.1002/rob.4620040403},
researchr = {https://researchr.org/publication/TsaiO87},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {4},
number = {4},
pages = {477-501},
}