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本文提出了一种具有球形腕的冗余度机器人逆运动学实时解的新方法。即采用位姿分解方式，使逆运动学划分为球形腕位置和姿态两部分。与非分解方式的广义逆解相比，以ＢＵＡＡ—ＲＲ７—ＤＯＦ机器人为模型的仿真，表明了两者所产生的关节轨迹相差较小。同时本文方法保留了机器人的冗余特点，而且使复杂的逆运动学得到简化，适合于实时控制。
In this paper, a new method of inverse kinematics real-time solution for a redundant robot with a spherical wrist is proposed. That is to say, the pose decomposition method is used to divide the inverse kinematics into two parts: spherical wrist position and posture. Compared with the generalized inverse solution in non-decomposing mode, the simulation with BUAA-RR7-DOF robot shows that the joint trajectories produced by the two methods have a small difference. At the same time, the method of this paper retains the redundancy of the robot and simplifies the complex inverse kinematics, which is suitable for real-time control.