The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运动学逆唯一，计算简单，运算量小，特别是对于具有多冗馀度的机器人，此法能够避免奇异的讨论，提高计算效率。

The paving process of asphalt paver and the action between mixture and screed are analyzed in order to solve the problems in kinematics model of screeding unit.

为了决沥青混凝土摊铺机熨平装置运动学模型存在的问题,分析了摊铺机的摊铺过程以及混合料与熨平板之间的作用关系。