6轴工业机器人运动学正解程序，输入转角，则输出位置-6-axis industrial robot kinematics program

四自由度机器人正逆运动学解算，亲测有效，实现单点解算及检测，较具有参考价值-Four- freedom robot inverse kinematics solver positive, pro-test effective, single-point solver and testing, compared with a reference value