{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T19:50:06Z","timestamp":1778701806069,"version":"3.51.4"},"reference-count":37,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2021,10,31]],"date-time":"2021-10-31T00:00:00Z","timestamp":1635638400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51775474"],"award-info":[{"award-number":["51775474"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003787","name":"Natural Science Foundation of Hebei Province","doi-asserted-by":"publisher","award":["E2020203197"],"award-info":[{"award-number":["E2020203197"]}],"id":[{"id":"10.13039\/501100003787","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005064","name":"Hebei Province Science and Technology Support Program","doi-asserted-by":"publisher","award":["19221909D"],"award-info":[{"award-number":["19221909D"]}],"id":[{"id":"10.13039\/501100005064","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.<\/jats:p>","DOI":"10.3390\/s21217257","type":"journal-article","created":{"date-parts":[[2021,11,1]],"date-time":"2021-11-01T22:24:22Z","timestamp":1635805462000},"page":"7257","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator"],"prefix":"10.3390","volume":"21","author":[{"given":"Xiaohua","family":"Shi","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuechan","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ziming","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiwei","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kuhlemann, I., Jauer, P., Ernst, F., and Schweikard, A. 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