# Inverse Kinematics of a 7R 6‐DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot

> Research article (Mathematical Problems in Engineering, 2017) · cited 19× · AI/ML

**Wikidata**: [openalex:W2614224579](https://www.wikidata.org/wiki/openalex:W2614224579)  
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