采用D-H后置法建立了4R机器人运动方程，建立机器人执行机构在空间相对位置关系的数学模型，由此可解出手部位置和用单位矢量方向余弦表示的姿态。
A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of direction cosine.
一种指明逻辑记录位置的号码，用相对于基地址的差值来表示。
A number that indicates the location of a logical record, expressed as a difference with respect to a base address.
一种指明逻辑记录位置的号码，用相对于基地址的差值来表示。
A number that indicates the location of a logical record, expressed as a difference with respect to a base address.
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