The key parameters of the oil shale resource appraisement consist of ore-bed recoverable thickness(H), orebody effective area(S), orebody weight(D) and orebody resource types, etc.
油页岩资源量评价关键参数包括矿层可采厚度（H）、矿体有效面积（S）、矿体体重（D）、矿体资源类型等。
Based on the D-H coordinates, the links 'parameters are given and the kinematical analytical resolution for 4r redundant robot is got.
建立了机器人D - H坐标，给出杆长参数后，推导出了4r冗余度机器人运动学反解的解析解。
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