断奏的方法需要有活性协调的手臂、腕关节、手臂和手指运动，在这个奏法中所有器官都要同时参与。
The technique of staccato involves an active and coordinated arm wrist hand and finger motion in which all the components participate simultaneously.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
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.
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