Abstract: Aiming at the problems that solving inverse kinematics for seven degree-of-freedom manipulator has inferior reliability and cumulative error by using neural network and gradient projection method.Fully considered the characteristics of arm configuration and its self-motion,a new algorithm combined with geometry and analysis are proposed for solving redundant manipulator inverse kinematics and do some simulation verification.Position and orientation error weigh up this method feasibility.The simulation result shows that the maximum end error of manipulator position is less than 0.015mm and mean run time is 0.455ms by using this way.It is satisfied with online control requirement.It can provide a new idea for solving the manipulator inverse kinematics with rotate joint angle.

Key words: redundant manipulator, inverse kinematics, geometry algorithm, analytical algorithm