1.机器人运动逆解推导:https://blog.csdn.net/weixin_44562141/article/details/108760576?utm_medium=distribute.wap_relevant.none-task-blog-2defaultbaidujs_baidulandingword~default-1.essearch_wap_relevant 2.机器人正逆解推导原理参考《机器人导论分析》2.8-2.14章节