Abstract: The self-motion of redundant robot is analyzed that take the natural coordinates of points as independent motion parameters for the points in redundant robot’s workspace, then this method is applied to analyze the self-motion of the 7-DOF (Degree of Freedom) automatic fiber placement robotic manipulator, come to the self-motion manifold of 7-DOF automatic fiber placement robotic manipulator. The self-motion curves of 7-DOF automatic fiber placement robotic manipulator derived by parameterized and numerical methods and were compared; the results show that the parameterized methods used to analyze the self-motion of the redundant robotic manipulator is an effective approach.