Table 9.

Inverse solution results of the 7-DOF robotic manipulator.

Posture	Algorithms	θ1(°)	θ2(°)	θ3(°)	θ4(°)	θ5(°)	θ6(°)	θ7(°)	Distance
P1	–	45	0	45	0	45	0	0	–
P2	EOSMA	43.506898	− 90.000000	− 90.000000	− 38.841935	− 2.78E− 14	64.745704	20.589333	185.6794
	SMA	− 0.014719	− 90.000000	− 90.000000	24.224333	2.93E− 12	53.065842	12.725225	184.2310
	EO	− 174.758930	− 86.555831	79.782405	− 18.741263	10.776619	− 51.677450	− 14.648226	247.7969