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?