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本文运用机器人运动学原理推导了ＰＪ－５型喷砼机器人运动学正、逆问题的解，并提出了求解逆问题姿态参数的空间坐标解法，与矩阵法相比，该法简明，计算量大为减少，消除了很多不必要的矩阵冗余计算。
In this paper, the kinematics principle of the robot is used to derive the solution to the forward and inverse kinematics problems of the PJ-5 sneezing robot, and a spatial coordinate solution to the pose parameters of the inverse problem is proposed. Compared with the matrix method, this method is concise and has a large amount of calculation. The reduction eliminates a lot of unnecessary matrix redundancy calculations.