SCara平面关节机器人运动学分析，包括正解与反解，根据给定路线和加减速曲线，给出各个关节的转角控制量-SCara plane joint kinematics analysis, including positive solution and inverse solution, based on a given route and ramp curve, given the amount of each joint angle control

永磁同步电机加减速控制，电控部分，飞轮储能(Permanent magnet synchronous motor rotor acceleration and deceleration control)