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通过把关节耦合运动转化为约束条件，对一种８关节５自由度机器人进行了运动学正、逆问题分析。分析结果为机器人的轨迹规划和控制系统的设计提供了重要参考数据。
By transforming the joint coupling motion into the constraint conditions, a kinematic positive and inverse problem analysis of an 8-DOF 5-DOF robot is carried out. The analysis results provide important reference data for robot trajectory planning and control system design.