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

<div>Postures for the 8 inverse kinematic solutions of the 7R 6-DOF robot.</div>

Mathematical Problems in Engineering

Figure 9: Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot 