230*cos(c)+190*cos(x7)-405+400/cos(x5)*cos(x5+x6)=0
230*sin(c)+190*sin(x7)-644+400/cos(x5)*sin(x5+x6)=0
230*cos(d)+190*cos(x8)+405-400/cos(x5)*cos(pi-x5+x6)=0
230*sin(d)+190*sin(x8)+644-400/cos(x5)*sin(pi-x5+x6)=0
c d 已知量
先谢谢了