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

<div>Configuration of the 7R 6-DOF robot.</div>

Mathematical Problems in Engineering

Figure 2: Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot 