ࡱ> -/,q` RbjbjqPqP2::zzzzzzz  h. . . . . ) ) ) $~hV!z ) ) zz. . " Rz. z.  zz. " Pвm 1F$80h<w<<z ) 0Y "{  H) ) )  ) ) ) h d  zzzzzz DN2 ,{kQJ\^N'Y-NNf[uybf[/gKN  WSQog ,{VJ\^N'Yf[uQc]N 'Y[\OTffNy 199615-47 [3] xxxxx xxxxxxx xxxы:ghVNd\Ovpef[[xxxxQHr>y 199811-67 [4] Lee H Y, Reinholtz C F. Inverse kinematics of serial-chain manipulators[J]. ASME Journal of Mechanical Design. 1996, 118(3): 396-404 v (*6HJZ\bdfzhch;'CJ OJPJaJ o( h;'>*CJ OJPJQJaJ o("h;'B* CJ OJPJaJ o(phfh;'CJ OJPJQJaJ o(-v6\dG$H$^`\gd;' $dG$H$a$gd;' dG$H$gd;'0182P. A!"#$%S F`F cke a$$1$CJPJKHmH nHsH tH$A`$ ؞k=W[SOFi@F nfh/6 HNX_h @X[J0000000000000@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0@0I0  v  ^S s>@0(  < C  ?!g*!g*!g*<*urn:schemas-microsoft-com:office:smarttagschmetcnv  012025FalseHasSpacemmNegative NumberType SourceValueTCSCUnitName         *+68=>KMxy.056br  -4BIMPWZ^cgh ?JKNW[s  "#&'*7;?CDW`ss333c;'J@Tr PPUnknown G:Ax Times New Roman5Symbol3& :Cx Arial;5 |8ўSOSimHei1NSe-N[ADeck\h[{SO_oŖў;5 N[_GB2312;([SOSimSun7&@ Calibri AQh^2ge%'!Z&!),.:;?]}    & 6"0000 0 0 00000 =@\]^([{  0 0 00000;[22)?'*2 Administrator MC SYSTEMOh+'0t  0 < HT\dlAdministratorNormal MC SYSTEM2Microsoft Office Word@@|C@m՜.+,D՜.+,|8   (0 ` ?GKSOProductBuildVer2052-9.1.0.3914  !"#%&'()*+.Root Entry Fim01Table<WordDocument2SummaryInformation(DocumentSummaryInformation8$CompObjm  FMicrosoft Office Word ĵ MSWordDocWord.Document.89q