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介绍了近年来国外采用数值方法求解机器人逆运动学问题的进展情况，重点讨论了ＣＰ路径下的闭环方法（Ｃｌｏｓｅ－ｌｏｏｐｍｅｔｈｏｄ）和冗余自由度机器人的运动学道解问题．
In this paper, we introduce the progress of the numerical method to solve the inverse kinematics problem in foreign countries in recent years, and focus on the closed-loop method (CP) approach and the problem of kinematics of the robot with redundant degrees of freedom.