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.

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。

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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.

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。

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In this paper, velocity harmonization and acceleration harmonization of a 2R-1P3R two-arm robot have been studied for special-shaped surface stone with the differential geometry theory and D-H method.

用微分几何理论和D-H法研究了2R-1P3R 双臂机器人用于异形石材加工的速度协调和加速度协调，导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。

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