6R工业机器人逆运动学计算程序，机器人类型有三个轴平行-6R industrial robot inverse kinematics calculation program, there are three axis parallel robot type

通过矢量积的方式计算6R自由度机器人的雅可比矩阵。通过Matlab的脚本文件，将机器人的DH参数写在脚本开始出，修改此处可以修改机器人参数。(The Jacobi matrix of 6R degree of freedom robot is calculated by vector product. Through the Matlab scr ipt file, the robot's DH parameter is written