基于雅克比矩阵的2R机器人逆运动学算法，利用openGL可以显示2连杆的逆运动学仿真。-The inverse kinematics algorithm based on the 2R robot Jacobian matrix, using openGL to display the inverse kinematics simulation of 2 bar linkage.

用OpenGL实现了点的显示，实现了求逆矩阵算法-Using OpenGL to achieve a point of the display, to achieve the inverse matrix algorithm