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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