The present invention relates to the field of robotic inverse kinematics, and more particularly, relates to a method for providing an inverse solution to a second-order subproblem (RR). The method provides an inverse kinematics solution to second-order subproblems having an arbitrary relationship. The method employs, on the basis of a product of exponentials model, basic principles of screw theory and an expression of a Rodrigues' rotation matrix to combine a geometric method and an algebraic method to obtain a general solution formula for a joint angle. The solution formula can be used to directly obtain a solution without having to consider the relationship between joint axes, regardless of whether they intersect, are arranged in parallel or are located in different planes. The above method expands a solution method for robotic inverse solutions, expands the range of application and simplifies a solution finding process, thereby facilitating robot development and application.
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