如果逆位置有不同的相当数量全部，只有他们的当中一个遗骸的被打开。
If counter positions have different amounts of lots, only one of them remains opened.
一般6R机器人的位置逆解具有非常重要的理论与实际意义。
The inverse kinematics of general 6R serial robot is a central problem in theory and practice.
机器人位置问题正解采用齐次变换矩阵法解算，逆解采用只保证位置的插值算法。
The positive algorithm of robot positions is solved by the same power transformation matrix method, while the negative algorithm adopts interpolating method ensuring the position only.
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