本文提出用数值—解析法求解一种无解析解的6R机器人的运动学逆问题。该方法不同于一般的数值解法,首先建立起目标函数,并把θ_6与θ_1～θ_5的求解分离开,先用数值迭代法求出θ_6,然后用解析法直接得出θ_1～θ_5并在有轨迹端点约束条件下给出了迭代算法,并证明了算法的收敛性及稳定性,仿真结果表明该方法可靠,精度高,速度快,便于实际应用 In this paper, we propose a numerical-analytical method to solve the inverse kinematics problem of a 6R robot without analytic solution. This method is different from the general numerical solution. Firstly, the objective function is established and θ_6 is separated from the solution of θ_1 ~ θ_5. The method of numerical iteration is used to find θ_6, then the analytic method is used to obtain θ_1 ~ θ_5 directly. The iterative algorithm is given under the constraints of the end points, and the convergence and stability of the algorithm are proved. The simulation results show that the method is reliable, accurate, fast and practical