Motion study of a redundant 7-DOF operation robot

This paper presents a new numerical method for optimizing the motion of a 7-DOF robot. To improve efficiency and reduce computational complexity, the conventional Jacobian matrix is abandoned here. The key point is to find out the most suitable redundancy joint from the seven joints and to reduce the maximum velocity of the seven joints by modifying redundancy joint angle. Simulations show the efficiency and the high computational speed of this method.