本文针对机器人手臂沿棋盘格运动问题展开了研究，对五自由度机器人手

臂进行了运动学分析并分别求解出正运动学方程和逆运动学方程，针对机器人

手臂末端沿棋盘格的运动进行了路径规划，并对理论分析和算法设计进行实验

验证，得到良好的仿真效果。-This robot arm for movement along the grid of the research issues on the robot arm with five degrees of freedom kinematic analysis and kinematic equations are solved, respectively, and inverse kinematics equations for the end of the robot arm movement along the checkerboard for the path planning algorithm design and theoretical analysis and experimental validation, get good simulation results.