1.　　利用逆运动学算出直线路径从(320mm,-200mm,480mm) 到(320mm, 0mm,480mm)再到(320mm, 200mm,480mm)的对应机械臂各个关节的角度。

本实验将解出的从(320mm,-200mm,480mm) 到(320mm, 0mm,480mm)的各关节角度存入q.mat中。从(320mm, 0mm,480mm) 到(320mm, 200mm,480mm)的各关节角度存入q2.mat中。

-1 using inverse kinematics to calculate the linear path　(320mm,-200mm, 480mm) to (320mm, 0mm, 480mm) and then to (320mm, 200mm, 480mm) corresponding to the angle of the robot arm.



This experiment will be worked out　(320mm,-200mm, 480mm) to (320mm, 0mm, 480mm) of each joint angle into the q.mat. From (320mm, 0mm, 480mm) to (320mm, 200mm, 480mm) of each joint angle into the q2.mat.