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  1. 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)
  2.     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]
  3.     IKz[3]=inv_kin2y(theta1,IKz[2],L2Z);//
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