针对一个教学型多关节机器人的机械特点，不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。
Aiming at the mechanism character of a multi axes robot the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.
多指多关节拟人手是一种机器人的通用型灵巧终端执行器，同时它也是当前假肢领域中的一项重要研究课题。
A multifingered anthropomorphic hand is a versatile dexterous end effector for robot, which is also one of the important subjects in the area of research on artificial limb.
针对一个教学型多关节机器人的机械特点，不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。
Aiming at the mechanism character of a multi axes robot, the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.
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