Kinematics analysis and motion planning for a 7-DOF redundant industrial robot manipulator

This paper proposes application methods for utilizing a 7-DOF robot manipulator called YH050 in industrial settings. For finding an optimal method to solve the inverse kinematics problem, we propose three methods: numerical approach, geometrical approach and combined approach for inverse kinematics solution. Also, for efficient application of the robot in a work zone, we present motion planning to avoid singularities, obstacles, and to occupy minimal workspace. In this paper, these studies are theoretically explained and then experimentally verified.