一种9DOF模块化机器人的运动学反解的论文，对于如何求解机器人建模有帮助-9DOF a modular robot inverse kinematics solution of the papers, how to help solve the robot modeling

五自由度机器人手臂运动学分析，包括正解、反解的实现-Five degrees of freedom robot arm kinematic analysis, including the positive solution of the inverse solution to achieve