id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-8672	Hadidi, Nacer; Bouaziz, Mohamed; Mahfoudi, Chawki; Zaharuddin, Mohamed	Geometric approach to solving inverse kinematics of six DOF robot with spherical joints	2023	21	.pdf	application/pdf	8880	553	66	+ ay.nz.sx + az.nx.sy − az.ny.sx) , s2 = −(a2.s3 − a3.s2) (ax.ny.sz − ax.nz.sy − ay.nx.sz + ay.nz.sx + az.nx.sy − az.ny.sx) , s3 = (n2.s3 − n3.s2) (ax.ny.sz − ax.nz.sy − ay.nx.sz + ay.nz.sx + az.nx.sy − az.ny.sx) , n1 = −(ax.sz − az.sx) (ax.ny.sz − ax.nz.sy − ay.nx.sz + ay.nz.sx + az.nx.sy − az.ny.sx) , n2 = (ax.sz − az.sx) (ax.ny.sz − ax.nz.sy − ay.nx.sz + ay.nz.sx + az.nx.sy − az.ny.sx) , n3 = −(nx.sz − nz.sx) (ax.ny.sz − ax.nz.sy	cache/ap-8672.pdf	txt/ap-8672.txt