Chi-haur Wu, Kuu-Young Young. An efficient solution of a differential inverse kinematics problem for wrist-partitioned robots. IEEE Transactions on Robotics, 6(1):117-123, 1990. [doi]
@article{WuY90,
title = {An efficient solution of a differential inverse kinematics problem for wrist-partitioned robots},
author = {Chi-haur Wu and Kuu-Young Young},
year = {1990},
doi = {10.1109/70.88126},
url = {http://dx.doi.org/10.1109/70.88126},
researchr = {https://researchr.org/publication/WuY90},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {6},
number = {1},
pages = {117-123},
}