回零、机构设定功能

        public static double a1, a2, a3;  //静平台半径
        public static double b1, b2, b3;  //动平台半径
        public static double l1, l2, l3;  //主动臂杆长
        public static double q1, q2, q3;  //从动臂杆长
        public static double k1_max, k1_min;
        public static double k2_max, k2_min;
        public static double k3_max, k3_min;
        public static double theta1_max, theta1_min;
        public static double theta2_max, theta2_min;
        public static double theta3_max, theta3_min;
        //暂存上一时刻尺度
        double s_a1, s_a2, s_a3;
        double s_b1, s_b2, s_b3;  //动平台半径
        double s_l1, s_l2, s_l3;  //主动臂杆长
        double s_q1, s_q2, s_q3;  //从动臂杆长
        double s_k1_max, s_k1_min;
        double s_k2_max, s_k2_min;