机器人正逆运动学求解，不同于教科书上的D-H方法的一种全新的更加直观便于理解的方法，不仅文档详细论证而且程序动画仿真演示。-Robot forward and inverse kinematics, differ　one kind of D-H method textbook on the new method more intuitive and easy to understand, not only the document in detail and procedural animation demonstration simulation demonstration.