运动学研究的问题 Where is my hand? 运动学正问题 Direct Kinematics HEREI How do i put my hand here? 运动学逆问题 Inverse Kinematics Choose these angles运动学研究的问题 Where is my hand? Direct Kinematics HERE! How do I put my hand here? Inverse Kinematics: Choose these angles! 运动学正问题 运动学逆问题