Redundancy and joint limits of a seven degree of freedom upper limb exoskeleton

The seven degree of freedom arm model is widely used in robotics, computer graphics, and much more. For wearable robotic systems, which are subject to joint limits, it is desirable to relate the joint limits to the redundantly of the system. A brief review of the arm model, redundant space and kinematics is presented. Following this review a closed form method is developed calculate the interval of the swivel angle (which characterizes the redundancy) that produces arm configurations that stay within joint limits.