Firstly, a discussion is devoted to studying the function, work flow and programme of controller. The emphasis of the study is the dynamic model in robotic system.
首先，从功能、工作流程和控制器程序设计的角度分别讲述了各子系统的本体设计，在机械臂子系统中又主要对运动学模型加以陈述。
Director of Programme Planning, Budget and Finance and Controller;
方案规划、预算和财务厅长兼主计长；
Director of Programme Planning, Budget and Finance and Controller;
方案规划、预算和财务厅长兼主计长；
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