摘要
利用ＰＵＭＡ５６０型机器人的齐次坐标变换矩阵，推导了其逆运动学问题的解析解，与常用的其它方法相比，该方法简单、明了、计算速度快，对ＰＵＭＡ５６０型机器人的运动规划具有实用价值。
Using homonegenous coordinates transformation matrices ot PUMA560robot，thispaper deduces analytic solution of its inverse kinematic problem. Compared with other methodswhich are often used，this method is simple，clear and its calculating speed is quick .It is valuablefor PUMA560 robot planning of trajectories.
