Numerical stabilization algorithm for inverse kinematics analytical solution of S-R-S structure seven-degree-of-freedom mechanical arm

The invention discloses a numerical stabilization algorithm for an inverse kinematics analytical solution of an S-R-S structure seven-degree-of-freedom mechanical arm. The numerical stabilization algorithm comprises the steps of (1) forward kinematics solution, (2) reference plane solution, (3) inverse kinematics solution, (4) singular arm angle acquisition and (5) joint limiting and singular value avoidance. The core part of the numerical value stabilization algorithm is to provide a singular value avoidance and joint limiting avoidance method for subsequent numerical value stabilization aiming at the numerical value stabilization problem of direct threshold value comparison in previous methods, and the numerical value stabilization algorithm has the following excellent technical effects that (1) the inverse kinematics analytical solution of the S-R-S structure mechanical arm can be obtained, and joint limiting and singular pose avoidance are realized; (2) the whole range of a feasible redundancy angle psi m