其目的是用于增加一般性和机器人控制程序业绩计划，并 为他们各自的理由是资源的机制。
The objective is to use plans and the respective reasoning mechanisms for them as resources for increasing the generality and the performance of robot control programs.
在对KLD - 600机器人的正逆运动学分析的基础上，采用关节空间法分析了轨迹规划，建立了控制程序基础模型。
Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the control program is created.
为了实现在这 些方面更多的普遍性，控制程序部分，被称为机器人的计划，要明确地表示，这种机器 人可以对他们的原因，并加以修订。
To achieve more generality in these respects, parts of the control programs, called the robot plans, are to be represented explicitly, such that the robot can reason about them and revise them.
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