Some improving of documentation workding.

README.md

@@ -13,7 +13,8 @@ planning.
 
 This work builds upon the 2014 paper titled _An Analytical Solution of the Inverse Kinematics Problem of Industrial
 Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist_, authored by Mathias Brandstötter, Arthur
-Angerer, and Michael Hofbaur. The paper is available [here](https://www.researchgate.net/profile/Mathias-Brandstoetter/publication/264212870_An_Analytical_Solution_of_the_Inverse_Kinematics_Problem_of_Industrial_Serial_Manipulators_with_an_Ortho-parallel_Basis_and_a_Spherical_Wrist/links/53d2417e0cf2a7fbb2e98b09/An-Analytical-Solution-of-the-Inverse-Kinematics-Problem-of-Industrial-Serial-Manipulators-with-an-Ortho-parallel-Basis-and-a-Spherical-Wrist.pdf). Additionally, it draws inspiration from the similar C++
+Angerer, and Michael Hofbaur. The paper is [available in ResearchGate](https://www.researchgate.net/profile/Mathias-Brandstoetter/publication/264212870_An_Analytical_Solution_of_the_Inverse_Kinematics_Problem_of_Industrial_Serial_Manipulators_with_an_Ortho-parallel_Basis_and_a_Spherical_Wrist/links/53d2417e0cf2a7fbb2e98b09/An-Analytical-Solution-of-the-Inverse-Kinematics-Problem-of-Industrial-Serial-Manipulators-with-an-Ortho-parallel-Basis-and-a-Spherical-Wrist.pdf)
+. Additionally, it draws inspiration from the similar C++
 project, [Jmeyer1292/opw_kinematics](https://github.com/Jmeyer1292/opw_kinematics), which served as a reference implementation for generating data for the test suite.
 This documentation also incorporates the robot diagram from that project.