中文说明：经典的灰度共生矩阵纹理计算方法，实现六自由度运动学逆解算法，加入重复控制，计算十字叉丝的在不同距离的衍射图像,正确率可以达到98％，实现了图像的加水印，去噪，加噪声等功能。
English Description：
Classic gray co-occurrence matrix texture calculation method, achieve 6-DOF inverse kinematics algorithm, the repetitive control is introduced, the calculation of cross wire diffraction images at different distances, the correct rate can reach 98%, realize the image plus watermark, denoising and additive noise function.