说明：  本文以示教型六自由度串联机械手为试验设备，进行机械手的复杂运动控制，使机械手完成各种复杂轨迹的运动控制等功能，能够在现代工业焊接、喷漆等方面的任务
(In this paper, teach 6- DOF serial robot to test equipment, complex motion control robot, so the robot motion control functions such as complex trajectories, it is possible the task in the modern industrial welding, painting and other aspects)