实现六自由度运动学逆解算法，最大似然（ML）准则和最大后验概率（MAP）准则，实现用SDRAM运行nios，同时用SRAM保存摄像头数据。- Six degrees of freedom to achieve inverse kinematics algorithm, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion, Implemented with SDRAM run nios, while saving camera data SRAM.