提出Moz1机械臂的解析逆运动学解法，解决冗余与奇异性问题。
Analytical Inverse Kinematic Solution for "Moz1" NonSRS 7-DOF Robot arm with novel arm angle
- 用新定义的臂角变量求解7自由度机械臂逆运动学。
- 每种姿态可得全部16个解，算法快速精确无近似。
- 适用于传统方法失效的奇异区域，适合高精度控制场景。
本文针对带有腕部偏移的7自由度Moz1机械臂，提出了其逆运动学问题（IKP）的解析解。通过引入新型臂角变量，实现了封闭形式解，能够支持完全自运动，并解决工作空间内的算法奇异性问题。该方法在传统SEW角度无法定义的新臂角表示下，阐明了冗余度的处理方式及奇异性应对策略。解法简单、快速且精确，对每个位姿可提供完整的解空间（即全部16个解）。
原文摘要 · Abstract (English)
This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully self-motion and solve the problem of algorithmic singularities within the workspace. It also provides information on how the redundancy is resolved in a new arm angle representation where traditional SEW angle faied to be defined and how singularities are handled. The solution is simple, fast and exact, providing full solution space (i.e. all 16 solutions) per pose.
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