The model of minjiang river woodland expert classification was established by analyzing the rule of the spectral curve which was exeracted from the tm images with the help of the fifth forest resource continuous investigation data in the minjiang river watershed 利用福建省第5次森林资源连续清查固定样地资料，提取闽江流域各林地类型在闽江流域遥感图像图上的像元光谱值，分析各林地类型光谱曲线变化规律，基于遥感图像处理软件的专家分类知识库，建立闽江流域林地分类模型，对闽江流域林地利用现状进行分类。
The forward kinematics simulation results showed that accelerates of the end - effector obtained from simulation was equal to that of the given . the relation between the velocity of the end - effector and simulation time was nearly linear with gentle tangent slope , and the position varied with time continuously and smoothly without any vibration during moving 正运动学仿真结果表明，末端执行器加速度与给定加速度一致，速度与时间基本呈线性变化且斜率小；位置曲线变化平滑，无振动现象，满足正常工作要求。
