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

Many manipulators have been used for assembly tasks in factories to improve quality and to reduce the cost of the products being fabricated. Commonly, a manipulator has six degrees of freedom and several rotation axes offsets. These offsets are utilized to increase the manipulator task space. The motion of the manipulators in the expanded task space, however, is restricted by singularities and joint motion limits. Redundant degrees of freedom are used to ease these restrictions.