Forward & Inverse Kinematics Solution of 6-DOF Robots Those Have Offset & Spherical Wrists - Supplementary Data

This supplemental dataset is part of the paper published under "Forward & Inverse Kinematics Solution of 6-DOF Robots Those Have Offset & Spherical Wrists" and contains forward and inverse interactive calculation sheets for 6-DOF robots those have offset & spherical wrists. The interactive calculations sheets are in two format; SMath & Excel. SMath is free mathematical program with WYSIWYG editor and Excel is well know spreadsheet program both or either of them can be conveniently obtained. The aim of providing these files in dataset is that; a) verification to what is published, b) create solid foundation for the future studies, c) establish fast and better understanding conveniently for both forward & especially for inverse kinematics solution.

本补充数据集隶属于发表于《带有偏移与球形腕关节的6自由度机器人正逆运动学求解》（"Forward & Inverse Kinematics Solution of 6-DOF Robots Those Have Offset & Spherical Wrists"）的学术论文，内含针对带有偏移与球形腕关节的6自由度（6-DOF）机器人的正、逆运动学交互式计算工作表。该交互式计算工作表分为两种格式：SMath与Excel。其中SMath是一款支持所见即所得（What You See Is What You Get, WYSIWYG）编辑器的免费数学软件，Excel则是广为人知的电子表格软件，二者均可便捷获取。本数据集公开这些文件的目的在于：一、对已发表的研究内容进行验证；二、为后续相关研究奠定坚实基础；三、方便用户快速且更深入地理解正运动学，尤其是逆运动学的求解过程。