Information Technology Journal1812-56381812-5646Asian Network for Scientific Information10.3923/itj.2014.560.565RuihuaGe Xinfeng Li32014133In order to resolve the inverse kinematics of the redundant robotic manipulator, the position space manifold and orientation space manifold are defined; the redundant manipulators self-motion manifold can be obtained by pairing the position space manifold and orientation space manifold. The 7-DOF automatic fiber placement manipulators inverse kinematics are analyzed using position space manifold and orientation space manifold, self-motion manifold of it can be obtained by matching the position space manifold and orientation space manifold, the simulation results show that manipulators self-motion manifold is correct by this method and this method is also applicable in analyzing the self-motion manifold of the other type redundant manipulator.]]>Liu, Y.W.,201143234Zhu, X.G., Z.Q. Wang and Q.Y. Han,20118334341Han, Z.Y., Z.X. Shao, H.Y. Fu and Y. Liu,2009197278Yang, M.Y., H.X. Sun, Q.X. Jia and G. Chen,201146571Lu, Z.,2007Zhang, Q.H., H.X. Sun and S.M. Wei,200447477Moll, M. and E.E. Kavraki,20042004pp: 28262831Muller, A.,20042004pp: 15931598Zhao, J.W., Z.J. Du and L.N. Sun,200743132137Zhao, J.W., Y.F. Yao and B. Huang,20092810121017Xinfeng, G.E. and Z. Dongbiao,2012482731Zhang, H., Z.H. Li, H.M. Zhong and L. Zhang,201111147155Kazem, B.I., A.H. Hamad and M.M. Mozael,20102166173Ma, B.L.,200522547550Yao, Y.F., J.W. Zhao and L.N. Sun,2009437579