中文说明：逆运动学解，工具坐标系到工件坐标系的转换，欧拉角到姿态矩阵
English Description：
Inverse kinematics solution, transformation from tool coordinate system to workpiece coordinate system, Euler angle to attitude matrix
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中文说明：逆运动学解，工具坐标系到工件坐标系的转换，欧拉角到姿态矩阵
English Description：
Inverse kinematics solution, transformation from tool coordinate system to workpiece coordinate system, Euler angle to attitude matrix