*一个旋转的\"心\"，用Java编写 *3D的，通过计算空间中的点并投影到XY轴绘出，方向键和PU，PD控制旋转方向-a "heart" and using Java 3D *, By calculating space and the point of the projection is likely to draw the XY axis direction keys, and PU, PD control the direction of rotation

确定性机械手的PD+前馈控制的Ｓ函数的控制程序,(Deterministic PD + feedforward control of the manipulator S function of the control program,)