Moz1 arm paper presents analytical inverse kinematics for Spirit AI's 7-DOF robot arm

Key points

• The Moz1 inverse-kinematics paper presents a closed-form analytical solution for the seven-DOF Moz1 robot arm with wrist offsets.
• The author reports full self-motion support, singularity handling, and all 16 solutions per pose for the arm configuration.
• It matters for Moz1 because it is a product-specific external research result that clarifies the platform's manipulator kinematics without turning the company tab into outside-paper clutter.