The invention discloses a redundant space
robot inverse kinematics solving method based on a graph neural network, and relates to the technical field of
robot motion control and
artificial intelligence crossing. A distance geometric graph is constructed to represent the configuration of the mechanical arm, an
inverse kinematics problem is converted into a completion problem of a
partial graph, joint configuration is sampled, and data pairs of a
complete graph and the
partial graph are stored as a
data set; training based on an isotropic graph neural network and a conditional variation auto-
encoder, and training a model based on a
loss function of an evidence lower bound; and in the reasoning process, constructing a
partial graph, inputting the partial graph into the trained prior network, outputting hidden variables meeting
Gaussian mixture distribution, extracting sampling points, and generating a reconstructed
complete graph to obtain
joint angle information. The mechanical arm structure is represented through the distance geometric diagram, the
inverse kinematics problem is converted into the
complementation problem of partial diagrams, probability distribution of a solution space is learned through a conditional variation auto-
encoder frame, multi-solution generation of different mechanical arm configurations is supported, and the solving precision and efficiency are high.