Geodesic
Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example Stanford robot arm.~II
Izvestiya of Saratov University. Mathematics. Mechanics. Informatics, Tome 14 (2014) no. 1, pp. 88-95

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The methology of solving the inverce kinematics problem of manipulators by using biquaternion theory of kinematics control is shown on the example of Stanford robot arm. Solving of the inverce kinematics problem of Stanford robot arm is performed using the simplest control law. The analysis of numerical solution results is made. The efficacy of applying the theory of kinematics control for solving the inverce kinematics problem of manipulators is proved. Dual matrix and biquaternion methods of solving direct kinematics problem of manipulators were considered in [1]. 
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     author = {E. I. Lomovtseva and Yu. N. Chelnokov},
     title = {Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example {Stanford} robot {arm.~II}},
     journal = {Izvestiya of Saratov University. Mathematics. Mechanics. Informatics},
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E. I. Lomovtseva; Yu. N. Chelnokov. Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example Stanford robot arm.~II. Izvestiya of Saratov University. Mathematics. Mechanics. Informatics, Tome 14 (2014) no. 1, pp. 88-95. http://geodesic.mathdoc.fr/item/ISU_2014_14_1_a9/