Analytical Inverse Kinematic Solution for "Moz1" NonSRS 7-DOF Robot arm with novel arm angle
Fuente:
arXiv
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866914304764149760 |
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| author | Chen, Ke |
| author_facet | Chen, Ke |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_22996 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Analytical Inverse Kinematic Solution for "Moz1" NonSRS 7-DOF Robot arm with novel arm angle Chen, Ke Robotics Optimization and Control 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. |
| title | Analytical Inverse Kinematic Solution for "Moz1" NonSRS 7-DOF Robot arm with novel arm angle |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2511.22996 |