机器人正向运动学（运动学正解）

已知所有连杆长度和关节角度，计算机器人手的位姿

机器人逆向运动学（运动学逆解）

已知机器人手的位姿和连杆长度，计算所有关节角度

-Robot forward kinematics (forward kinematics solution) known to all the connecting rod length and joint angles, the computer position and attitude of the staff of the robot inverse kinematics (inverse kinematics solution) to a known position and orientation of the robot hand and the rod length, calculate all joint angles