【摘要】 本文系统地讨论了操作手运动学逆问题封闭式解的存在性和求解策略。文章总结了系列Ｄ－Ｈ矩阵相乘的运算化简规律，以通用的形式有效地推导了ＩＫＰ封闭式解的有关存在条件，讨论了这些封闭式解的一般解析求解步骤，在此基础上，文章提出了一种快速有效求解的新方法：迭代－解析混合法（ＩＡＭＭ）。根据这些理论和方法，用Ｃ语言在微机上成功地开发了ＩＫＰ的通用求解软件系统ＲＯＢＩＫＰ。更多还原

【Abstract】 This paper discussed the existence of closed-form solution and solving approach on inverse kine- matics for manipulators with 4,5 and 6DOF, First,sufficient conditions on existence and general calculatingsteps of closed-form solution are addressed by discussing on kinematic parameters a_i and d_i and a_i On thisbase,a new approach,the Iterative-Analytical Mixed Method(IAMM),is presented.This method is easy togive out all possible solution. According to these theory and methods,a general C-language program is devel-oped to solve inverse kinematic problems. At the end of this paper. two illustrating examples are given out.更多还原