An Analytical Solution for a Redundant Manipulator with Seven Degrees of Freedom

Abstract

In this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results.

Keywords

• Redundant Manipulator
• Inverse Kinematics
• Joint Limit
• Singularity