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main（主要的） / / problem solving ideas: / / a, Kinematic diagram of //1 and drawing mechanism; //2, find two enclosed graphics; //3 and column analytic equations and the four-dimensional equations are projected to X and Y directions, and the constant values of the current angle a are solved. Xo4a, cosu3, sinu3, sinu2, Xdc, cosu2; //4, for the four equations on both sides of the time derivative t respectively, obtained the speed equations, the coefficient matrix is stored in the array m, the value matrix is placed in the array b1; //5, the acceleration equations for the derivative of the speed equations, the coefficient matrix is placed in the array n, and the value matrix is placed in the b2; / / two, //1, using the matrix to solve linear equations, we must first solve the two problems (1), the number of n for any given arrangement, used to solve the determinant and the cofactor (2), Any given number of N / / m for the length of the arrangement of rank r is used to solve the coefficient matrix and augmented matrix; //2, the use of the above results, block the preparation of procedures; //3, the procedures for the combination, debugging, running, looking for specific points for verification results; Three, harvest and results / / //1, the actual use of knowledge, comprehensive use, can deepen memory and understanding; //2, in the program block, can be guaranteed to be correct, because each small module I have carried out with the neutralization test; If the teacher needs / / copy, can be sent to you, a small module on the program execution process with the original; //3, I think the most valuable thing is that I learned how to solve problems when I met them. I encountered many problems in the programming process. I followed them from the end to the data input, / / analysis of the source of the problem, and then thinking, problem solving; / / four, //1, the program is divided into main (), a primary function, yuzhishi (), hanglieshi (), backorder () (this is used to coun