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The 7R 6-DOF robots with hollow nonspherical wrist have been proven more suitable for spray painting applications. However, the inverse kinematics of this kind of robot is still imperfect due to the coupling between position and orientation of the end-effector (EE). In this paper, a new and efficient algorithm for the inverse kinematics of a 7R 6-DOF robot is proposed. The proposed inverse kinematics algorithm is a two-step method. The geometry of the 7R 6-DOF robot is analyzed. A comparisondoi:10.1155/2017/2074137 fatcat:ifkzar4m6jct7kahuptnorz2jq