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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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/

[1] Lomovtseva E. I., Chelnokov Yu. N., “Dual Matrix and Biquaternion Methods of Solving Direct and Inverse Kinematics Problems of Manipulators, for Example Stanford Robot Arm. I”, Izv. Saratov. Univ. (N.S.), Ser. Math. Mech. Inform., 13:4 (2013), 82–89

[2] Chelnokov Yu. N., “Biquaternion Solution of the Kinematic Control Problem for the Motion of a Rigid Body and Its Application to the Solution of Inverse Problems of Robot-Manipulator Kinematics”, Mechanics of Solids, 48:1 (2013), 31–46 | DOI

[3] Fu K. S., Gonzalez R. C., Lee C. S. G., Robotics : Control, Sensing, Vision, and Intelligence, McGraw-Hill, Inc., 1987, 580 pp.

[4] Chelnokov Yu. N., Quaternion and Biquaternion Models and Methods of Mechanics of a Rigid Body and their Applications. Geometry of Motion, Saratov Univ. Press, Saratov, 2006, 236 pp.