中文摘要：

用Robotics Toolbox对机器人进行仿真建模，编写出机器人末端运动轨迹的可视化程序，完成了喷漆机器人的实时轨迹绘制，直观的了解机器人的工作空间。应用机器人工具箱编写Matlab仿真程序，验证运动学正逆解的正确性，为后续的动力学分析、轨迹控制尊定了基础。

英文摘要：

The robot model was simulated with Robotics Toolbox,and the end Kinematics visualization trajectory program were painted.lt can be seen directly the track of robots working space, simulation program were writed with robot toolbox. The simulation proved the corretness of forward,inverse kinematics. algorithum, and built the foundation for robot dynamics and trajectory control.