运用FPGA，创建NIOS2处理器，进行机器人逆运动学的轨迹规划，采用的是ALTERA 的飓风2处理器，处理速度非常快-The use of the FPGA, create NIOS2 processor, inverse kinematics, trajectory planning, the the ALTERA hurricane 2 processor, the processing speed is very fast