中文说明：
Part 01 机械臂设计
设计一个六自由度机械臂，分析证明其操作器尖端的灵巧工作空间，并用蒙特卡洛方法验证了灵巧工作空间的正确性。
Part 02 Minimum-Snap 轨迹规划
令操作臂尖端位置固定，使其绕灵巧工作空间的某个内点作定点转动。选择三维空间中一段封闭圆作为第三关节目标轨迹，生成多个离散轨迹点。利用逆运动学求解得到每个离散轨迹点对应的各关节变量，利用MATLAB Robotics Toolbox生成机械臂绕定点旋转动画，采用Minimum Snap方法进行**轨迹规划，**将其抽象化为经典QP二次优化问题求解。
最终利用MATLAB进行动态演示，并实现在固定球坐标系下任意变化位置参数的演示交互界面
English Description：
Part 01 manipulator design A 6-DOF manipulator is designed, and the dexterous workspace of the manipulator tip is analyzed and proved. The correctness of the dexterous workspace is verified by Monte Carlo method. Part 02 minimum snap trajectory planning The tip of the operating arm is fixed to rotate around an inner point of the smart workspace. A closed circle in 3D space is selected as the target trajectory of the third joint to generate multiple discrete trajectory points. The inverse kinematics is used to get the joint variables corresponding to each discrete trajectory point, the MATLAB robotics toolbox is used to generate the rotation animation of the manipulator around the fixed point, and the minimum snap method is used for * * trajectory planning, which is abstracted into the classical QP quadratic optimization problem. Finally, Matlab is used for dynamic demonstration, and the demonstration interface of arbitrarily changing position parameters in fixed spherical coordinate system is realized