An Analytical Solution to Inverse Kinematics of Seven Degree-of-freedom Redundant Manipulator

This paper proposes an analytic inverse kinematics computation method for redundant manipulator with S-R-S configuration. Forward kinematics model is built based on traditional D-H modeling approach. The redundancy is decoupled through designing the virtual arm angle parameters and the relationship between arm angle and joint angle is detailed. A complete analytic inverse kinematics equation in position space is obtained, which eliminates the acquisition of joint speed and Jacobian matrix. And the optimal strategy to obtain inverse kinematics under joint limits is designed. The method is verified using robotics toolbox and simulation is made on the ROS platform.