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在协调统一的运动约束条件下，分别研究了２Ｒ－３Ｐ２Ｒ型双臂焊接机器人系统中的两臂在焊接作业中的运动学反解问题。系统中的变量按其性质可分为相对独立的三组，它们分别控制着本系统中机械臂的位姿。机械臂Ⅱ末端的姿态和位置。因为它们是相对独立的，因此，其运动方程的反解比较容易。
The kinematic inverse problems of two arms in the welding operation of 2R-3P2R double-arm welding robot system were studied respectively under the condition of coordinated movement and restraint. The variables in the system can be divided into three groups according to their nature, which respectively control the pose of the manipulator in this system. Arm Ⅱ attitude and position of the end. Because they are relatively independent, the inverse of their equations of motion is relatively easy.