位形

${\left(\begin{array}{ccc}x& y& z\end{array}\right)}^{{\rm T}}\left(\text{mm}\right)$

$d\left(mm\right)$

$\left(\begin{array}{cccc}{q}_1& q_2& q_3& q_4\end{array}\right)\left(\text{mm}\right)$

位形1

${\left(\begin{array}{ccc}0& 0& -500\end{array}\right)}^{{\rm T}}$

0

$\left(\begin{array}{cccc}-29.60& -29.60& -89.18& -89.18\end{array}\right)$

位形2

${\left(\begin{array}{ccc}-150& 70& -540\end{array}\right)}^{{\rm T}}$

10

$\left(\begin{array}{cccc}-210.80& -147.60& -60.79& -120.40\end{array}\right)$