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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机器人的轨迹规划可以在关节空间中进行，也可以在直角坐标空间中进行。

The trajectory planning of robot can be done in joint space coordinate and Cartesian space coordinate.

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找出在执行机构空间和在关节空间内的扭矩、速度、雅各比及齐次变换矩阵之间的关系。

The relation between torque, speed, Jacobian and compliance in actuator space and the same parameters in joint space is obtained.

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