本程序为三自由度工业机器人的正向运动学与逆向运动学求解程序，程序详细地给出了正逆解的过程，对从事机器人运动学研究的同学很有帮助！-This procedure for the three degrees of freedom forward kinematics and inverse kinematics of the industrial robot application, process of inverse procedure is given in detail, is very helpful for robot kinematics research classmates!