Design of a redundant arm for yiren humanoid robot

We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. This paper presents the kinematics of the arm such as workspace, singularity, the number and physical nature of self-motion. The concepts and methodology of the inverse kinematics base on the self -motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm´s dead weight were analyzed.