This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with geometric solution, since it obtains a precise solution in a closed number of steps, converting the inverse kinematic problem into a three-dimensional geometric model. To simplify the problem, the kinematic decoupling method is used, so that the position of the wrist is calculated independently on one hand with information on the orientation of the hand, and the angles of the rest of the arm are calculated from the wrist.

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