Research for kinematics equtions of HNC-IR robot and a new solution for inverse kinematics equtions

The paper sets up kinematics model based on structural analysis of HNC-IR Robot and presents a new solution of robot's inverse kinematics equations.Compared with traditional algorithms,this method reduced sharply the computation of kinematics equations and inverse kinematics equations.In accordance with specific structure,the paper also puts to use multi-computation method to deal with the problem that equations have no closed-form solution during inverse kinematics equations.It's proved to an efficient solution.