实现六自由度运动学逆解算法，基于掌纹识别的在线身份验证 识别算法本科毕设，预报误差法参数辨识-松弛的思想。- Six degrees of freedom to achieve inverse kinematics algorithm, Verify recognition algorithm based on palmprint recognition undergraduate complete set of online identity, Prediction Error Method for Parameter Identification- the idea of relaxation.