为了使六自由度机械臂完成特定的动作,需要设计计算相应的指令序列.首先计算了机械臂位姿与指尖位置之间的关系公式,然后针对机械臂的到达问题、沿曲线运动问题和避障问题,分别提出目标位姿预测、曲线离散到达和受限目标到达三种解决方法,其中涉及的关键算法是自适应搜索法,该方法具有效率高、精度高、适用范围广的特点.在产生指令序列时采用贪心算法.通过以上方法得到的执行结果误差很小(<0.8mm),同时搜索收敛速度也很快. In order to make a six-degree-of-freedom manipulator to complete a specific action, we need to design and calculate the corresponding command sequence.First, the relationship between the manipulator arm position and fingertip position is calculated, and then for the arm arrival problem, along the curve motion problem and Aiming at obstacle avoidance problems, three solutions are proposed, such as target pose prediction, discrete arrival of curves and limited target arrival, respectively. The key algorithm involved is adaptive search method, which has the characteristics of high efficiency, high precision and wide range of application. The greedy algorithm is used when generating the instruction sequence, and the error of the execution result obtained by the above method is very small (<0.8mm), and the search convergence speed is also very fast.