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为实现凿岩机器人钻臂在凿岩过程中的自动定位，建立了多关节钻臂的运动学方程；根据钻臂的实际工作特点和工作范围提出了一种求逆解的方法．运算结果表明，该方法可以成功地实现快速、精确求解，具有较高的实用价值．
In order to realize the automatic positioning of the drilling arm of rock drilling robot during rock drilling, a kinematic equation of the multi-joint drilling arm is established. A method of inversion solution is proposed according to the actual working characteristics and working range of the drilling arm. The calculation results show that this method can successfully achieve fast and accurate solution and has high practical value.