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

电机S曲线加减速的matlab程序，对实现电机平滑曲线很有帮助-The motor S curve deceleration of the matlab program