Formal verification method for inverse kinematics of dexterous hand of three-finger robot and electronic equipment

The embodiment of the invention discloses a formal verification method for inverse kinematics of a dexterous hand of a three-finger robot and electronic equipment. The method comprises the following steps: formally describing the content of a spinor theory; inputting the content of the formally-described spinor theory into a theorem prover for proving to obtain a theorem 1, a theorem 2 and a theorem 3; formally describing a Pad-Kahan sub-problem 1, a Pad-Kahan sub-problem 2 and a Pad-Kahan sub-problem 3; inputting the sub-problem 1, the sub-problem 2 and the sub-problem 3 which are subjected to formalized description into the theorem prover for proving to obtain a theorem 4, a theorem 5 and a theorem 6, wherein the theorem 4, the theorem 5 and the theorem 6 are solutions of the sub-problem 1, the sub-problem 2 and the sub-problem 3 correspondingly; and verifying the kinematics solving problem of the dexterous hand of the three-finger robot by utilizing the theorem 1, the theorem 2, the theorem 3, the theorem