By establishing Descartes coordinate of assembly robot and applying coordinate transformation to derive converse and positive kinematics equation of the assembly robot, we study the solution of kinematics equation of the assembly robot.

• 通过建立装配机器人的笛卡儿坐标系，推导出装配机器人的正、逆运动学矩阵方程，并研究了正、逆运动学方程的解；