An analytical solution of inverse kinematics for a 7-DOF redundant manipulator

Abstract

A 7-degrees of freedom (7-DOF) redundant manipulator has ability of avoiding obstacle/singularity, and thus improving operational performance. However, its inverse kinematics is difficult to solve since it has one more DOF than that of necessary for reaching the whole work space. In this paper, a geometric method is proposed to solve the inverse kinematics. First, Denavit- Hartenberg model for the manipulator is established and its self-motion is analyzed. Second, an analytical solution for the manipulator is derived. Finally, MATLAB simulation results are given to verify this method precise and feasible.