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- double theta1=inv_kin2the(IKx[2],IKz[2],IKx[4],IKz[4],L2Z,L3);//逆運動学計算呼び出し(θ1導出)
- IKx[3]=inv_kin2x(theta1,IKx[2],L2Z);//Er,Ev点座標//J3のx1y1z1座標（2リンク逆運動学）→Joint[2][ti]→Joint[3][ti]→Joint[4][ti]
- IKz[3]=inv_kin2y(theta1,IKz[2],L2Z);//
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