Abstract: Based on the structure of a robot manipulator with seven degrees of freedom (7-DOF) and its self-motion characteristic, a geometric method is proposed to find solution of inverse-kinematics of a robot. The algorithm is at the level of position for inverse kinematics. Self-motion of the redundant manipulator is described and used to solve inverse kinematics of the redundant manipulator. The inverse-kinematics is solved using its self-motion. Computation involved in the method is easy. It is efficient in solving the inverse kinematics.

Key words: coordinate transform, inverse kinematic, self-motion, seven degrees of freedom (7-DOF)