Inverse Kinematic of Six-axis robots based on R* (3,0,1) Geometric Algebra
DU Juan WU Hongtao YANG Xiaolong CHEN Bai CHENG Shili
Journal of South China University of Technology(Natural Science Edition) . 2018, (9): 30 -35 .  DOI: 10.3969/j.issn.1000-565X.2018.09.005