OMT (Object Modeling Technique) is an Object-Oriented conceptual set and that is a graphical notation independent of programme, which includes Object-Model, Dynamic-Model and Function-Model.

对象模型技术(OMT)是一种面向对象概念集以及与编程无关的图形表示法，包括对象模型、动态模型和功能模型。

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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。

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