给出了机械臂刚体运动螺旋极小模方程的解系，并将结果应用于一种特定约束解的求解问题。结果表明，利用极小模方程的解系不仅可以使该特定约束问题的求解十分简单，甚至可以应用与其它约束条件的求解。

The solution system of minimum-magnitude equation about the screw of a rigid-body motion of manipulator is given in this paper, and it has been used to solve a special restricted problem. The result shows that the solution system of minimum-magnitude equation not only can solve special restricted problem readily, but also can be used to solve other restricted problems.