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.

翻译：本文针对具有腕部偏移的七自由度Moz1机械臂，提出了一种基于新型臂角的逆运动学问题解析解法。我们通过引入该新型臂角参数，给出了封闭形式的解。该方法允许完整的自运动，并解决了工作空间内的算法奇异性问题。同时阐明了在传统SEW角无法定义的情况下，如何通过新的臂角表示法解决冗余自由度问题，以及如何处理奇异性。该解法简洁、快速且精确，能为每个位姿提供完整的解空间（即全部16组解）。