Mathematicians have developed many algorithms to help in the quest, including New-ton-Raphson and Muller search methods. 数学家们发展了许多算法来帮助求解，包括牛顿一辛普森法和米勒搜索法。
Monte Carlo method and 3-D mesh scanning procedure was used to obtain the workspace, and its geometrical properties were analyzed. 运用蒙特卡罗方法思想及三维网格搜索法得到机构的工作空间，分析了工作空间的几何性质。
