The weight matrix is replaced by using weight coefficient, and avoids calculating inverse matrix of the error variance matrix.
用计算加权系数的方法代替了原来的计算加权矩阵，从而避免了求解滤波误差方差阵的逆矩阵。
The inverse kinematics solution of the driving limbs is given. Influence coefficient matrix of the PMT are educed.
对中间约束支链和五驱动支链分别进行了运动学分析，并求出五驱动支链的反解。
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