提出三维几何法求解7自由度机械臂完整逆运动学，精准高效。
Three-dimensional geometric resolution of the inverse kinematics of a 7 degree of freedom articulated arm
- 基于几何分解，将逆运动学转为三维建模问题。
- 独立求解腕部位置，再反推其余关节角度。
- 适合需要高精度控制的工业机械臂场景。
本文提出一种三维几何解析方法，用于计算7自由度铰接式机械臂（含末端手）的完整逆运动学解。该方法属于解析几何类，可在有限步内获得精确解，将逆运动学问题转化为三维几何模型。为简化求解，采用运动学解耦策略：先根据手部姿态独立确定腕部位置，再由腕部位置反解其余关节角度。
原文摘要 · Abstract (English)
This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with geometric solution, since it obtains a precise solution in a closed number of steps, converting the inverse kinematic problem into a three-dimensional geometric model. To simplify the problem, the kinematic decoupling method is used, so that the position of the wrist is calculated independently on one hand with information on the orientation of the hand, and the angles of the rest of the arm are calculated from the wrist.
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