The inverse kinematics problem involves the study that the inverse kinematics solver needs to calculate the values of the joint variables given the desired pose of the end-effector of a robot. However, to apply to seven-degree-of-freedom robots with arbitrary configuration, analytical methods need to fix one joint and set an increment when the current value fails to solve the inverse kinematics problem. Although numerical methods based on inverse differential kinematics are efficient in solving the inverse kinematics problem of seven-degree-of-freedom robots with arbitrary geometric parameters, they are deficient in numerical stability and time-consuming for convergence to one solution governed by the initial guess. In order to reduce the execution time of an inverse kinematics solver, this article introduces a speedup method for analytical and numerical methods, which can improve their performance.

逆运动学问题涉及研究逆运动学求解器需要计算给定机器人末端执行器所需姿势的关节变量的值。然而，要应用于具有任意配置的七自由度机器人，当当前值无法解决逆运动学问题时，分析方法需要固定一个关节并设置一个增量。尽管基于逆微分运动学的数值方法在解决具有任意几何参数的七自由度机器人的逆运动学问题方面是有效的，但它们在数值稳定性方面存在不足，并且收敛到由初始猜测支配的一种解法很耗时. 为了减少逆运动学求解器的执行时间，