This paper addresses the inverse kinematic problem for 7 DOF anthropomorphic manipulators with joint limits. Specifically, the paper analyzes how the joint limits restrict the redundancy to develop practical inverse kinematic resolutions under the joint limits. First, the manipulator model considered in this paper is provided. Second, how to solve the inverse kinematics of the redundant manipulator is described. Third, how joint limits affect the inverse kinematic solutions is investigated. Forth, several suggestions for resolving redundancy under the joint limits are presented. Lastly, the effectiveness of the redundancy resolutions is illustrated by simulation results.
