中文说明：
该文件基于Matlab的GUI界面设计了6自由度串联机器人的运动学、动力学和轨迹规划的算法，用户可以计算PUMA560型的机器人的正逆运动学，正逆动力学和指定的轨迹规划，同时可以动画显示机器人点对点的运动路线。该程序可进行二次开发，用户可根据机器人模型的不同修改参数，针对自身模型进行运动学、动力学和轨迹规划的计算与仿真。
English Description：
Based on the GUI interface of MATLAB, this file designs the algorithms of kinematics, dynamics and trajectory planning of 6-DOF serial robot. Users can calculate the forward and inverse kinematics, forward and inverse dynamics and the specified trajectory planning of PUMA560 robot, and display the robot's point-to-point motion path in animation. The program can be redeveloped. Users can modify parameters according to different robot models, and calculate and simulate kinematics, dynamics and trajectory planning for their own models