Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot

<div>Graphic simulator of the 7R 6-DOF robot and the trajectory.</div>

Mathematical Problems in Engineering

Figure 13: Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot 