机器人的轨迹跟踪程序，修改参数可以重新建立自己想要的模型，可以看到末端轨迹的运动画面。-Robot trajectory tracking program, you can modify the parameters to re-establish the model you want, you can see the end of the trajectory of the moving picture.

通过该文件可以进行8连杆机构运动学分析，并生成末端轨迹。(Just for kinematic analysis for one leg, you can generate the trajectory through this file.)

一种大工作空间的连杆机构程序,可生成末端轨迹(a file of the linkage with large work space)