The robotic TLArm platform (Telerobot Srl), 7 degrees of freedom (DoF), was delivered on October 7, 2011 at the BioRobotics Institute of Scuola Superiore Sant'Anna at Polo Sant'Anna Valdera (Pontedera, Italy).

During the last two months, the following activities were carried out:

1) Computation of direct and inverse kinematics of TLArm;

2) Computation of direct and inverse differential kinematics of TLArm;

3) Singularity and redundancy analysis;

4) Iterative method for the implementation of the inverse kinematics (under Simulink environment);

5) Simulations (under Matlab environment).