With it, we could use trigonometry to find the inverse tangent of the two axis readings and calculatethe angle.
有它，我们可以使用三角函数来求出两轴的反正切值并计算出角度；
The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given based on spherical trigonometry.
得到了机构的位置正反解，绘制了机构在进行基本康复运动时的驱动副输入曲线图；
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