中文摘要：

多自由度串联机器人逆运动求解的传统方法是从逆运动方程出发求解析解，在机构存在冗余自由度的情况下会出现求解困难。提出了利用粒子群优化理论直接从正向运动方程出发，求解机器人关节变量的方法。讨论了通过粒子群优化算法的位置一速度搜索模型求解关节变量的方法和步骤。实验对比了求逆运动解析解和本方法结果的差异；验证了在约束条件下搜索关节变量值的效果。实验证实了本算法的有效性。

英文摘要：

Traditional method of Multi-DOFs serial manipulators analysis is based on inverse kinematic equations. A method based on Particle Swarm Optimization （PSO） to get optimal solution using kinematic equations directly was proposed. The method to get optimal solution of joint variables by particle swarm optimization＇s velocity-position search model was discussed. Tho difference between calculating inverse kinematic equations method and this paper＇s method was compared. Experiment validates the optimal solution of joint variables by PSO under constraint condition. Experimental results demonstrate the accuracy of the proposed algorithm.