3link 有障碍物\angls2links.m ..............\cross_singlepoint.m ..............\fitnesstra3ob.m ..............\fobstacle.m ..............\forkin3.m ..............\ftorque3.m ..............\invkini.m ..............\main.m ..............\torque3.m ..............\trajectory_planning2ob.m ..............\trajectory_planning3ob.m ..............\trajt3.m 3link 有障碍物