
Although closed-form expressions are available in particular cases (Gaunt, 1929), they are, in general, unattractive for machine use. Other expressions for the general case have been given (Miller, 1963; Joy, 1962), but have been found comparatively less convenient for the computation of IK than the method suggested in the present work. This method, which is based on Gaussian quadrature techniques, is theoretically exact and also reasonably stable computationally.
special functions
special functions
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