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为了对Ｖ０１弧焊机器人深层次的开发，需要首先剖析其运动学模型，求解反臂形问题．本文利用几何解法，针对Ｖ０１弧焊机器人建立了相应的逆运动学算法，解决了求解臂形标志问题，从而为Ｖ０１弧焊机器人的离线编程打下了基础
In order to deeply develop V01 arc welding robots, we first need to analyze its kinematics model to solve the anti-arm problem. In this paper, the geometric inverse method is used to establish the corresponding inverse kinematics algorithm for the arc welding robot V01, which solves the problem of solving the arm-shaped marker, thus laying a foundation for the offline programming of V01 arc welding robot