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

Table 1

The D-H parameters of the 7R 6-DOF robot.

-th	(mm)	(deg)	(mm)	(deg)
1	0	0	0	60
2	0	90	0
3	1000	0	0	60
4	0	90	900
5	0		80	60
6	0	70	80
7	0		100	30