Analytical Inverse Kinematic Solution for "Moz1" NonSRS 7-DOF Robot arm with novel arm angle

TL;DR

This paper introduces an analytical inverse kinematic solution for the Moz1 7-DOF robot arm with a novel arm angle, enabling fast, exact, and comprehensive pose solutions while addressing singularities and redundancy resolution.

Contribution

It provides a new closed-form inverse kinematic solution with a novel arm angle for the Moz1 robot arm, handling singularities and redundancy explicitly.

Findings

Provides 16 solutions per pose

Handles singularities within the workspace

Offers a simple, fast, and exact solution

Abstract

This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully self-motion and solve the problem of algorithmic singularities within the workspace. It also provides information on how the redundancy is resolved in a new arm angle representation where traditional SEW angle faied to be defined and how singularities are handled. The solution is simple, fast and exact, providing full solution space (i.e. all 16 solutions) per pose.