The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

• 结果表明，各关节的运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计算效率。