A new method of inverse kinematics solution for industrial 7DOF robot

A new method of inverse kinematics solution for industrial 7DOF robot is presented. The forward kinematics solution of the robot was solved by D-H method. The method was adopted by combination the separation of position and posture of robot and algebraic iterative, and transforming the inverse kinematic solution of 7DOF robot to the position redundant problem of 4DOF robot. The simulation of the joints' movement of robot was implemented by MATLAB software programming. The computational complexity of this method is relatively small, suitable for real-time control, which is suitable for application in industrial robot control.