这是我毕设作品，实现六自由度运动学逆解算法，界面中有opengl动画，可以示教.-This is my complete works of established and achieve 6-DOF inverse kinematics algorithm interface with opengl animation, can teach.

面向并联机器人工作空间绘制的， 6自由度6-pss构型的工作空间绘制程序，包含多个计算子程序，便于修改应用于其他构型。-A 6-DOF 6-pss configuration workspace drawing procedure for parallel robot workspace, containing multiple calculation subroutines for easy modification to other configurations.

将Matlab与solidworks联合仿真，运用你运动学公式，求解六自由度并联机器人的工作空间(The workspace of a 6-DOF parallel robot is solved by using your kinematics formula and the joint simulation of MATLAB and solidworks.)