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Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm

This paper presents an analytical inverse kinematic (IK) solution for the seven degree-of-freedom (7-DOF) “Restore” robot arm with non-zero joint offsets. We provide two closed-form solutions - the shoulder-elbow-wrist (SEW) IK and the θ1-based solution. Both allow self-motion and together they solve the problem of algorithmic singularities within the workspace. Non-zero link offsets require careful selection of shoulder, elbow, and wrist locations. The solution is simple, fast and exact, providing full solution space (i.e. all eight solutions) per pose.