Abstract
The several redundant manipulators have the self motion that rotate the axis between its shoulder and its wrist. The displacement parameter of this self motion are usually called Arm angle. This parameter need the reference frame. And its reference frame move when the wrist position are moving. The author proposed the Arm angle computation method as the natural self motion. First, the equivalent mechanism is determined for the Arm angle. Second, the inverse kinematics is solved for the axis of its joints. Third, the relationship of the derivative of the Arm angle are derived, and the angular velocity of the redundant motion axis set 0. Finally, its derivative are integrated using Gaussian quadrature. Also, the several considerations are discussed around the Arm angle singularity, and its neighborhood.
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