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本文系统地讨论了操作手运动学逆问题封闭式解的存在性和求解策略。文章总结了系列Ｄ－Ｈ矩阵相乘的运算化简规律，以通用的形式有效地推导了ＩＫＰ封闭式解的有关存在条件，讨论了这些封闭式解的一般解析求解步骤，在此基础上，文章提出了一种快速有效求解的新方法：迭代－解析混合法（ＩＡＭＭ）。根据这些理论和方法，用Ｃ语言在微机上成功地开发了ＩＫＰ的通用求解软件系统ＲＯＢＩＫＰ。
This paper systematically discusses the existence and solution strategy of the closed solution to operator inverse kinematics problem. This paper summarizes the operation simplification law of multiplication of series D-H matrices, and derives the related condition of IKP closed-form solution in a generalized form, and discusses the general analytical solution steps of these closed-form solutions. On this basis, This paper presents a new method of fast and efficient solution: iterative - analytic mixing (IAMM). According to these theories and methods, IKP universal solution software system ROBIKP has been successfully developed on microcomputer by C language.