Inverse kinematics solving method for high-altitude redundant multi-degree-of-freedom mechanical arm

The invention discloses an inverse kinematics solving method for a high-altitude redundant multi-degree-of-freedom mechanical arm, and relates to robot analysis in the industrial and mechanical industry, and the inverse kinematics solving method comprises the following steps: S1, establishing a concise and intuitive D-H coordinate system relation based on the self-motion manifold of a redundant-degree-of-freedom robot; s2, a kinematic modeling module establishes a homogeneous transformation equation between joint coordinate system relations and connecting rod coordinate systems; s3, a redundancy decomposition module constructs a high-altitude special mechanical arm model with seven rotary joints and one translation joint at the same time, and an eight-degree-of-freedom mechanical arm is simplified into seven degrees of freedom; s4, the to-be-determined parameter module solves a related joint angle function solution based on the gravity Fg of the tail end gripper borne by the insulating rod and the supporting