LocLab substitutes the parameters of the hinge point of the Stewart platform into the above formula, and uses MATLAB to obtain the initial pose, as shown in the figure, the platform parameters are: X-axis coordinates of the upper platform xa; Y-axis coordinates of the upper platform ya; za=Z of the upper platform Axis coordinate; xb= X-axis coordinate of lower platform; yb= Y-axis coordinate of lower platform; zb= Z-axis coordinate of lower platform; roumin= minimum rod length; roumax= maximum rod length;