四自由度的简易机器人（转载），通过输入四个关节的旋转角度，显示出实体在X、Y、Z三轴上的投影，并可计算出位置坐标-Simple robot four degrees of freedom (reprint), by entering the four joint rotation angle, showing that the entity in the X, Y, Z axis on the projection, and calculate the location coordinates

关于工业机器人中间语言的国家标准GB/Z 20869 Industrial Robots ：the intermediate code for Robot -National Standard GB on industrial robots intermediate language/Z 20869 Industrial Robots: the intermediate code for Robot