Singularities in motion and displacement functions for a 7 degree-of-freedom manipulator. - Faydor L. Litvin; Vincenzo Parenti-Castelli; M. A. Shaheen (J. Field Robotics, 1987)

Toward the inverse kinematics of a 7 degree-of-freedom manipulator. - Faydor L. Litvin; M. A. Shaheen; J. Tan (Robotersysteme, 1989)