Analytical Inverse Kinematic Solution for "Moz1" NonSRS 7-DOF Robot arm with novel arm angle

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 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. Research on light-weight redundant manipulators, has grown in various directions like human robot interaction [1] or machine learning [2].