说明：  ：本文提出了一种基于单纯形方法的机械手位姿逆解的分步求解方法。这种方法充分利用了单纯形法 大范围收敛和计算简单的特性，在不计算目标函数一阶导数的情况下，确定极值点的查找方向与步长，多次迭代，直至目标函数满足所给条件。最后，用一个六自由度的肘机器人验证了该求解方法的有效性。
( This paper presents a simplex method based on robot position and orientation of the sub-step inverse solution method. This method takes advantage of a wide range of simplex method convergence and easy to compute the characteristics of the objective function without calculating the first derivative of the situation, determine the extreme point to find the direction and step length, multiple iterations, until the objective function to meet the given the conditions. Finally, a six-degree of freedom elbow robot validate the solution method.)