The goal of this paper is to design a 2 d.o.f. planar robot, to research its motion planning problem and to realize the Computer Integrated Control System of the robot.

• 本文之目标为设计一平面二轴机械臂，探讨机械臂之反向运动学问题，并且提出一电脑整合控制系统来加以实现它。