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对于机器人操作手运动学模型求解的系列关系式最佳推导的问题，分析了矩阵运算的一些技巧和旋转矩阵正交性的有关性质，并讨论了系列Ａ矩阵相乘运算的化简规律，在此基础上提出了运动学模型求解的系列关系式有效推导的基本原则和方法，从而避免系列Ａ矩阵相乘展开的繁杂运算。
For the best derivation of the series of equations for solving the kinematics model of robot manipulator, some properties of the matrix operations and the orthogonality of the rotation matrix are analyzed. The reduction law of the multiplication of series A matrices is discussed. Based on this, the basic principles and methods for efficient derivation of series relational formulas for solving kinematic models are proposed, which avoids the complicated operation of series A matrix multiplication.