五、解出运动控制解出运动控制是在希望的笛卡方向上使操作手具有协调的运动位置和运动速度,其含义是不同关节电机的运动是联合的。就是说,为使操作手沿地坐标轴完成希望的运动,各关节电机必须以不同的时变速度同时 Fifth, the solution to the motion control Solution to the motion control in the hope that the direction of the card in the hands of the operator has a coordinated position and speed of movement, the meaning is that the movement of different joint motors are combined. In other words, in order for the operator to perform the desired motion along the axis of the earth, the articulated motors must be operated at different time-varying velocities simultaneously