首先，利用坐标变换将机器人在三维空间中的运动映射到二维平面上；

The coordinate transformation is used to translate the motion of 3D environment into a plane.

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苹果沿着这空间中形成的曲线而运动。

The apple follows the curves made in space.

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从而求得机器人关节空间中各关节的运动轨迹。

Then get robotic joint every sport orbit of joint of the space.

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从而求得机器人关节空间中各关节的运动轨迹。

Then get robotic joint every sport orbit of joint of the space.

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