摘要： 机器人逆运动学求解的可视化算法包含两部分，数值求解两个(或一个)非线性方程和4(或5)自由度机器人封闭解，实现了任意结构的6自由度机器人的逆运动学方程的求解，根据D-H参数表生成机器人三维模型实现机器人结构的可视化，有效地判断逆解的合理性，并为机器人学习提供了辅助工具。

关键词: 机器人, 逆运动学, 可视化, 数值计算

Abstract: This paper introduces the robotic inverse kinematics visual algorithm which includes two parts. Firstly two (or one) non-linear equations are numerically computed, and then the remaining four (or five) joint values are determined in closed form once two (or one) joint values are known. And the visualization of the robot models produced by D-H parameters is used to determine the solutions effectively.

Key words: Robot manipulator, Inverse kinematics, Visualization, Numerical computer