这是我毕设作品，实现六自由度运动学逆解算法，界面中有opengl动画，可以示教.-This is my complete works of established and achieve 6-DOF inverse kinematics algorithm interface with opengl animation, can teach.

这个是一个opgl的控件,有了它后就可以在对话框中显示opgl动画了，使用例子可以见robot-opengl_case。-opgl the controls, you can have it in the dialog box shown opgl animation. See examples of the use of robot-opengl_case.

简单模拟机器人手臂运动。能按照下列轨迹运动：圆，直线，三角形，扇形以及正弦三角函数。-Simple simulation of the robot arm movement. Can track movement in accordance with the following: a round, straight, triangular, fan-shaped and sinusoidal trigonometric functions.