WindowsFormsApplication5 6轴工业机器人运动学正解程序

6轴工业机器人运动学正解程序，输入转角，则输出位置

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;

namespace WindowsFormsApplication4
{
    public partial class Form1 : Form
    {
        public Form1（）
        {
            InitializeComponent（）;
        }

        private void button2_Click（object sender EventArgs e）
        {
           
            double a1 = 100;
            double a2 = 300;
            double a3 = 100;
            double d1 = 400;
            double d4 = 450;
            double d6 = 350;
            
         //
           bool[] z=new bool [6];
           CheckBox[] chk=new CheckBox [6];
           double  [] theta =new double  [6];
           chk 

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\WindowsFormsApplication4\
     文件         914  2013-07-15 14:07  WindowsFormsApplication5\WindowsFormsApplication4.sln
     文件       24064  2013-08-06 09:56  WindowsFormsApplication5\WindowsFormsApplication4.suo
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\WindowsFormsApplication4\bin\
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\WindowsFormsApplication4\bin\Debug\
     文件       22528  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\bin\Debug\WindowsFormsApplication4.exe
     文件       42496  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\bin\Debug\WindowsFormsApplication4.pdb
     文件       11600  2013-08-06 09:06  WindowsFormsApplication5\WindowsFormsApplication4\bin\Debug\WindowsFormsApplication4.vshost.exe
     文件         490  2009-08-31 00:40  WindowsFormsApplication5\WindowsFormsApplication4\bin\Debug\WindowsFormsApplication4.vshost.exe.manifest
     文件        7718  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\Form1.cs
     文件       36891  2013-08-06 09:03  WindowsFormsApplication5\WindowsFormsApplication4\Form1.Designer.cs
     文件        5817  2013-08-06 09:03  WindowsFormsApplication5\WindowsFormsApplication4\Form1.resx
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\WindowsFormsApplication4\obj\
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\
     目录           0  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\
     文件        4440  2013-07-15 14:07  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\DesignTimeResolveAssemblyReferences.cache
     文件        6402  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\DesignTimeResolveAssemblyReferencesInput.cache
     文件         974  2013-08-06 09:04  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\GenerateResource.read.1.tlog
     文件        2282  2013-08-06 09:04  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\GenerateResource.write.1.tlog
     文件        7897  2013-07-15 14:46  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\ResolveAssemblyReference.cache
     目录           0  2013-07-15 14:07  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\TempPE\
     文件        2678  2013-08-06 09:06  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\WindowsFormsApplication4.csproj.FileListAbsolute.txt
     文件       22528  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\WindowsFormsApplication4.exe
     文件         180  2013-08-06 09:04  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\WindowsFormsApplication4.Form1.resources
     文件       42496  2013-08-06 09:55  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\WindowsFormsApplication4.pdb
     文件         180  2013-07-15 16:10  WindowsFormsApplication5\WindowsFormsApplication4\obj\x86\Debug\WindowsFormsApplication4.Properties.Resources.resources
     文件         505  2013-07-15 14:07  WindowsFormsApplication5\WindowsFormsApplication4\Program.cs
     目录           0  2013-07-15 15:14  WindowsFormsApplication5\WindowsFormsApplication4\Properties\
     文件        1380  2013-07-15 14:07  WindowsFormsApplication5\WindowsFormsApplication4\Properties\AssemblyInfo.cs
     文件        2898  2013-07-15 14:07  WindowsFormsApplication5\WindowsFormsApplication4\Properties\Resources.Designer.cs
............此处省略4个文件信息