Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist

@inproceedings{Tsumaki1997SingularityconsistentIK,
  title={Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist},
  author={Yuichi Tsumaki and Shinji Kotera and Dragomir N. Nenchev and Masaru Uchiyama},
  booktitle={ICRA},
  year={1997}
}

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