【摘要】 本文针对代数方法给出的机器人操作臂多重解，应用几何规划法排除掉局部闭链机构的不可能位姿，确定了工作空间所对应操作空间关节变量的取值范围，从而惟一地确定出给定腕点位置所对应的关节变量值，并编制出计算程序。更多还原

【Abstract】 Not the same as the algebra anti - solution of the robot arms,in this paper,the sole anti - solution is presented by using geometric method,the variable scale of the nodes space were given, so ease the way using arbitrary point of the working space to decide the nodes variable values.更多还原