[refoxpro]

这是一个空间三维机器人转角的变换矩阵，thet1,thet2,thet3,为未知量

5*cos(thet1)*(31*sin(thet2)*cos(thet3)+31*cos(thet2)*sin(thet3)-128*sin(thet2)*sin(thet3)+128*cos(thet2)*cos(thet3)+114*sin(thet2)+30)＝790

5*sin(thet1)*(31*sin(thet2)*cos(thet3)+31*cos(thet2)*sin(thet3)-128*sin(thet2)*sin(thet3)+128*cos(thet2)*cos(thet3)+114*sin(thet2)+30)＝0

155*cos(thet2+thet3)-640*sin(thet2+thet3)+570*cos(thet2)＝725

各位高手如何求其中的三个thet解，多谢