实现PUMA560的D-H表以及在坐标系下的展示。此外还可以通过修改调试窗口内的数值来形象地观看PUMA560机器人的运动。程序中包含示例仿真，给定起始点、终止点、仿真时间、仿真间隔后，可以画出仿真过程中关节的速度、位移、加速度随时间变化曲线，同时还可以在三维空间下画出末端关节的空间位置变化曲线。(Realize the D-H table of PUMA560 and display in coordinate system. In addition, the movement of PUMA560 robot can be visually viewed by modifying the values in the debugging window. The program includes example simulation. Given the starting point, termination point, simulation time and simulation interval, the curve of joint velocity, displacement and acceleration changing with time can be drawn in the simulation process. At the same time, the curve of joint position changing in three-dimensional space can also be drawn.)