it is possibile to apply kinematic decoupling for a 7D0F 7R manipulator with spherical wrist? If it is possible, anyone can suggest me a reference on how to apply this approach with a redundant manipulator with spherical wrist, otherwise explain me o give a reference about why it is not possibile? I'm working with Robotic Toolbox (matlab) and the numeric algorithm finds without problems the inverse kinematics if I don't specify the orientation, and I was thinking to solve the problem in a second time considering the spherical wrist: this approach can work? Thanks

Is it possible to apply kinematic decoupling for a 7 DOF 7R manipulator with spherical wrist? If it is possible, can anyone suggest a reference on how to apply this approach with a redundant manipulator with spherical wrist, or explain why it is not possible?

I'm working with Robotic Toolbox (matlab) and the numeric algorithm can find the inverse kinematics solution without a problem if I don't specify the orientation. And I was thinking about solving the problem a second time considering the spherical wrist. Will this approach work?