建立了角台机构的反解方程，通过确定结构约束和齐次变换矩阵，解得角台机构的三个移动副输入参数。

Then it builds the equations for inverse problem and obtains the three input parameters according to the structure constraints and homogeneous transforming matrixes.

youdao

建立了角台机构的反解方程，通过确定结构约束和齐次变换矩阵，解得角台机构的三个移动副输入参数。

Then it builds the equations for inverse problem and obtains the three input parameters according to the structure constraints and homogeneous transforming matrixes.

youdao