本文中，利用目标函数或约束条件的几何性质，提供了某些多元函数极值或最值问题的几何解法。
In the paper, it provides the geometrical solution to extreme value of many variables function by geometric properties of objective function or constraint condition.
本文提出了一种新的求解操作器运动学逆问题的分解解法，它是对现有的代数解法和几何解法的综合。
This paper combines the algebraic method and geometric method and presents a new resolution meth-od of solving the inverse kinematic problems of manipulators.
本文提出了一种新的求解机械手运动学逆问题的分解解法，它是对现有的代数解法和几何解法的综合。文中结合PUMA机械手对该解法作了具体阐述。
By combining the algebraic method and geometric method, a new resolution method for solving the inverse kinematic problems of manipulators is presented, with PUMA manipulator given as an example.
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