该程序完成了六自由度机械手的操控。存在两种模式操作，手动和自动，手动使用索尼游戏机手柄，自动模式下会按照固定轨迹运动取物-The program completed the six degrees of freedom manipulator control. There are two modes of operation, manual and automatic, manual using a Sony video game console and automatic mode accor