320 增加运动学逆解接口说明

Author: wangWking

10-ApplicationBasePython/10.1_320_PI-ApplicationPython/2_API.md

@@ -342,6 +342,21 @@ mc.send_angle(1, 40, 20)
   - `0` not moving
   - `-1` error
 
+#### 3.16 `angles_to_coords(angles)`
+
+- **Function** : Convert angles to coordinates.
+- **Parameters:**
+  - `angles`: `list` List of floating points for all angles.
+- **Return value**: `list` List of floating points for all coordinates.
+
+#### 3.17 `solve_inv_kinematics(target_coords, current_angles)`
+
+- **Function** : Convert coordinates to angles.
+- **Parameters:**
+  - `target_coords`: `list` List of floating points for all coordinates.
+  - `current_angles`: `list` List of floating points for all angles, current angles of the robot
+- **Return value**: `list` List of floating points for all angles.
+
 ### 4. JOG Mode and Operation
 
 #### 4.1 `jog_angle(joint_id, direction, speed)`
@@ -1284,4 +1299,4 @@ Server file is in the `demo folder`,For details, please check the [Server_320.py
 - **Parameters**
 
   - `pin_no` (`int`) pin id.
-- **Return value:** `0` is low level `1` is high level
+- **Return value:** `0` is low level `1` is high level