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中文摘要：
对最常用的六关节机械臂，给出一种直接获取逆运动学最优解，并且运算速度更快的方法，以提高机械臂快速响应能力。这种方法不需要先从机械臂正向运动学方程中求逆运动学方程的全部解，然后再从中选择最优解，而是根据对末端的姿态和位置的要求，直接求出最优解，即先求出第5个坐标系的坐标原点和第4、5、6个关节角的旋转角度，再根据第5个坐标系原点的坐标以及第4、5、6个关节角的旋转角度求出第1、2、3个关节角的旋转角度。仿真结果证明了6个关节角计算的正确性和可行性。
英文摘要：
For the most commonly-used 6R manipulator, a fast method to obtain its optimal inverse kinematics solution is given, in order to improve the response capability of the manipulator. The method doesn＆#39;t need to find out all of the inverse kinematic solutions from the kinematic equations, and then chooses the optimal solution among them and gives the optimal solution directly according to the desired pose and position of manipulator’s end-effector. Concretely, the origin of 5th coordinate frame and the joint coordinates of 4th, 5th and 6th joint are obtained firstly. Then, the joint coordinates of 1th, 2th and 3th joint are obtained by using these data. Simulation result shows the correctness and feasibility of the algorithm.
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