同时，利用反变换法(代数法)进行运动学反解。
Meanwhile, utilizing algebra law, inverse kinematics equation is solved.
并用d - H方法建立了机械手的运动学模型，用反变换法对其进行了运动学反解。
The kinematics model is established by using the D-H method, and solved by using the counter transformation method.
并用d - H方法建立了机械手的运动学模型，用反变换法对其进行了运动学反解。
The kinematics model is established by using the D-H method, and solved by using the counter transformation method.
应用推荐