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对于机器人操作手ＩＫＰ求解的问题，提出了利用消元及变量分离技术，将问题简化为仅含部分关节变量的优化问题。对多解的ＩＫＰ，在建立优化模型时，既考虑末端执行器给定的位姿要求，亦充分考虑关节空间、工作环境等因素的约束，从而求得问题的确定解，对于障碍碰撞的判别与躲避，提出了交点控制策略。
For solving the IKP of robot manipulator, this paper proposes the elimination of variables and the use of variable separation techniques to simplify the problem to an optimization problem involving only some joint variables. For the multi-solution IKP, when establishing the optimization model, the end-effector not only considers the pose requirements, but also considers the constraints such as joint space and working environment, so as to obtain the solution of the problem and determine the obstacle collision And avoid, put forward the intersection control strategy.