This paper studies the solution of kinematics equation of the manipulator by establishing Descartes coordinate of the manipulator and applying coordinate transformation to derive converse and positive equation of the manipulator.

• 本文通过建立操作机械手的笛卡尔坐标系，推导出操作机械手的正、逆运动学矩阵方程，并研究了正、逆运动学方程的解；