系数

关节1

关节2

关节3

a₁

−0.5499

0.002

0.2959

a₂

0.1325

3.9819e−04

−0.1486

a₃

0.1533

0.0021

−0.3209

a₄

−0.0010

0.0064

0.0484

a₅

0.0313

−0.2246

−0.0011

b₁

−0.0317

0.5730

−0.0102

b₂

0.5488

−0.2047

−0.0026

b₃

−0.1722

0.1605

−0.0148

b₄

0.1025

−0.0245

−0.0073

b₅

−3.2553e−05

0.6225

−0.1774

q

0.8085

−0.0071

0.4590