$\left\{\begin{aligned} & {{}_{{o_1}}^{{o_r}}t = {{\left( {0,0,{{ - {l_1}} / 2} - \sum\limits_{i = 2}^{n = 5} {{l_i}} } \right)}^{\rm T}}} \\ & {{}_{{o_2}}^{{o_r}}t = {{\left( {0,0,{{ - {l_2}} / 2} - \sum\limits_{i = 3}^{n = 5} {{l_i}} } \right)}^{\rm T}}} \\ & {{}_{{o_3}}^{{o_r}}t = {{\left( {0,0,{{ - {l_3}} / 2} - \sum\limits_{i = 4}^{n = 5} {{l_i}} } \right)}^{\rm T}}} \\ &{{}_{{o_4}}^{{o_r}}t = {{\left( {0,0,{{ - {l_4}} / 2} - {l_5}} \right)}^{\rm T}}} \end{aligned}\right.$![]() ![]() | (2) |