function?[?output_args?]?=?Untitled（?input_args?）
%UNtitleD?Summary?of?this?function?goes?here
%???Detailed?explanation?goes?here
puma560;


t=0:0.05:10;?


T1=transl（0.60.60.2）;?


T2=transl（-0.60.60.2）;?


T=ctraj（T1T2length（t））;


r?=transl（T）;


q=ikine（p560T）;?


plot（p560q）;


[MN]=size（r）;


x1=r（1:M1）;


y1=r（1:M2）;


%%%%%%%%%%%?


t=10:0.05:20;


T1=transl（-0.60.60.2）;?


T2=transl（-0.6-0.60.2）;?


T=ctraj（T1T2length（t））;


r=transl（T）;


q=ikine（p560T）;?


plot（p560q）;


[MN]=size（r）;


x2=r（1:M1）;


y2=r（1:M