The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节运动学逆唯一，计算简单，运算量小，特别是对于具有多冗馀度机器人，法够避奇异论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运动学逆解唯一，计算简单，运算，别是对于具有多冗馀度的机器人，此法能够避奇异解的讨论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的逆解唯一，计算简单，算量小，特别是对于具有多冗馀度的机器人，此法能够避奇异解的讨论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运动学逆解唯一，计算简单，运算量，是对于具有多冗馀度的机器人，此法能够避奇异解的讨论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运动学逆解唯一，单，运量小，特别是对于具有多冗馀度的机器人，此法能够避奇异解的讨论，提高效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表，节的运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度的机器，此法能够避奇异解的讨论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运学逆，计算简单，运算量小，特别是对于具有多冗馀度的机器人，此法能够避奇异的讨论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果明，各关节的运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度的机器人，此法能够避奇异解的讨论，提高计算效率。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运动学逆解唯一，计算简单，运算量小，特别是有多冗馀度的机器人，此法能够避奇异解的讨论，提高计算效率。