中文说明：Puma560机械臂的运动学正逆解、基于三次多项式和五次多项式的轨迹规划。没有用机器人工具箱，纯自己看公式手动编程。程序包括运动学正解、运动学逆解、工作空间计算、轨迹规划。
English Description：
The forward and inverse kinematics of PUMA560 manipulator, trajectory planning based on cubic polynomial and quintic polynomial. There is no robot toolbox, just look at the formula of manual programming. The program includes forward kinematics solution, inverse kinematics solution, workspace calculation and trajectory planning.