6R工业机器人逆运动学计算程序，机器人类型有三个轴平行-6R industrial robot inverse kinematics calculation program, there are three axis parallel robot type

通过矢量积的方式计算6R自由度机器人的雅可比矩阵。通过Matlab的脚本文件，将机器人的DH参数写在脚本开始出，修改此处可以修改机器人参数。(The Jacobi matrix of 6R degree of freedom robot is calculated by vector product. Through the Matlab scr ipt file, the robot's DH parameter is written on the scr ipt to start out,